Millimeter wave radar phase shifter calibration method based on reference dot matrix

Abstract

The invention discloses a millimeter wave radar phase shifter calibration method based on a reference dot matrix, and belongs to the field of millimeter wave radars. The method comprises the following steps: obtaining a pre-constructed reference phase dot matrix, and enabling a to-be-calibrated millimeter wave radar to transmit a millimeter wave signal to a corner reflector by taking the reference phase dot matrix as a rotation initial phase of a phase shifter; acquiring echo data of the corner reflector under each reference phase point of each theoretical phase to obtain an angle inverse distance dimension complex value set under each theoretical phase; determining an angle inverse actual zero phase point and a corresponding theoretical phase based on the angle inverse distance dimension complex value set under all theoretical phases, and deducing a corresponding relation between the angle inverse actual phase and the theoretical phase according to the angle inverse actual zero phase point and the theoretical phase; and determining coordinate values of 360 angular inverse theoretical phases on a complex plane so as to accurately calibrate actual phase calibration values corresponding to the theoretical phases in combination with an angular inverse distance dimension complex value set corresponding to the angular inverse actual phases. According to the scheme, the problem of calibration of errors of the antenna can be solved, and hardware equipment does not need to be added.

Description

Technical Field

[0001] This invention relates to the field of millimeter-wave radar technology, and in particular to a millimeter-wave radar phase shifter calibration method based on a reference array. Background Technology

[0002] Millimeter-wave radar, due to its high resolution, wide bandwidth, and strong anti-interference capabilities, has been widely used in fields such as autonomous driving, intelligent sensing, and fifth-generation mobile communication (5G). Phased array technology, as the core of millimeter-wave radar, achieves directional beam scanning by controlling the phase difference of each phase shifter in the antenna array. Its performance directly determines the radar's angle measurement accuracy, resolution, and effective range.

[0003] As a key component for beam steering, the performance accuracy of the phase shifter is significantly affected by factors such as manufacturing process deviations, integrated circuit mismatches, operating temperature variations, and device aging. These factors can cause deviations between the actual beam pointing and the theoretical set value, severely degrading system performance. Therefore, high-precision calibration of the phase shifter is an indispensable step in ensuring the performance of millimeter-wave radar systems.

[0004] However, existing technologies either only calibrate frequency characteristics or rely on increasing hardware complexity to calibrate channel consistency, failing to address the core issue of high-precision calibration of inherently flawed antenna errors.

[0005] Therefore, there is an urgent need to provide a millimeter-wave radar phase shifter calibration method based on a reference array to address the inherent errors of the antenna itself. Summary of the Invention

[0006] To address the problem that existing phase shifter calibration methods cannot achieve high-precision calibration of antenna errors, this invention provides a millimeter-wave radar phase shifter calibration method based on a reference array.

[0007] On the one hand, a millimeter-wave radar phase shifter calibration method based on a reference array is provided, the method comprising: A pre-constructed reference phase matrix is ​​obtained, enabling the millimeter-wave radar to be calibrated to use the reference phase matrix as the initial phase of the phase shifter to transmit millimeter-wave signals to the corner reflector; wherein, the reference phase matrix includes a set of reference phases for each theoretical phase from 0 to 360 degrees, and each set of reference phases for each theoretical phase contains several reference phase points. Echo data of the corner reflector at each reference phase point in each theoretical phase are obtained to obtain a set of complex values ​​of the angular inverse distance in each theoretical phase. Based on the set of complex values ​​of the angular inverse distance under all theoretical phases, the actual zero phase point of the angular inverse and the theoretical phase corresponding to the actual zero phase point of the angular inverse are determined, so as to deduce the correspondence between the actual phase of the angular inverse and the theoretical phase. The coordinates of 360 theoretical phases in the complex plane are determined, and combined with the set of complex values ​​of the inverse distance corresponding to the actual phases in the inverse plane, the actual phase calibration values ​​corresponding to each theoretical phase are accurately calibrated.

[0008] On the other hand, a millimeter-wave radar phase shifter calibration device based on a reference dot matrix is ​​provided, based on the steps described in any method embodiment of the specification. The device includes: The acquisition unit is used to acquire a pre-constructed reference phase matrix, so that the millimeter-wave radar to be calibrated can use the reference phase matrix as the initial phase of the phase shifter to transmit millimeter-wave signals to the corner reflector; wherein, the reference phase matrix includes a set of reference phases for each theoretical phase from 0 to 360 degrees, and the set of reference phases for each theoretical phase contains several reference phase points. The acquisition unit is used to acquire echo data of the corner reflector at each reference phase point in each theoretical phase, so as to obtain the set of complex values ​​of the angular inverse distance in each theoretical phase. The determination unit is used to determine the actual zero phase point of the angular inverse distance and the theoretical phase corresponding to the actual zero phase point of the angular inverse distance based on the complex numerical set of all theoretical phases, so as to deduce the correspondence between the actual phase of the angular inverse distance and the theoretical phase. The calibration unit is used to determine the coordinate values ​​of the 360 ​​theoretical phases of the angular inversion on the complex plane, so as to accurately calibrate the actual phase calibration value corresponding to each theoretical phase by combining the set of complex values ​​of the angular inversion distance corresponding to the actual phase of the angular inversion.

[0009] On the other hand, a computer device is provided, the computer device including a memory and a processor, the memory for storing a computer program, and the processor for executing the computer program stored in the memory to implement the steps of the method described above.

[0010] On the other hand, a computer-readable storage medium is provided, wherein a computer program is stored therein, and when the computer program is executed by a processor, it implements the steps of the method described above.

[0011] On the other hand, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the method described above.

[0012] The technical solution provided by this invention can bring at least the following beneficial effects: By using a reference phase array as the initial phase of the phase shifter to transmit millimeter-wave signals to a corner reflector, echo data of the corner reflector at each reference phase point in each theoretical phase is obtained, thus obtaining a set of complex values ​​for the angle-phase distance in each theoretical phase. Through zero-phase finding and distance matching, high-precision calibration of the spatial angle-phase relationship is achieved directly, solving the calibration problem of the antenna's own error. Moreover, it can be implemented with only software algorithms and does not require additional hardware equipment. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart of a millimeter-wave radar phase shifter calibration method based on a reference array, provided by an embodiment of the present invention. Figure 2 This is a schematic diagram of a reference area provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of a sector-shaped sampling area provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of a calibration method for matching a measured circle with measurement data, provided in an embodiment of the present invention. Figure 5 This is a structural diagram of a millimeter-wave radar phase shifter calibration device based on a reference array, provided in an embodiment of the present invention. Figure 6 This is a hardware architecture diagram of a computer device provided in an embodiment of the present invention; Figure label: 102 - Coordinate axes; 104 - Rectangular phase lattice; 106 - Center of the circle; 108 - Outer boundary of the circle; 110 - Reference phase lattice region; 302 - Center; 304 - Current theoretical phase; 306 - Angular extension boundary; 308 - Inner arc; 310 - Outer arc; 312 - Sector sampling area; 402 - Center of the circle; 404 - Measured circle; 406 - Complex data points actually collected; 408 - 30-degree anti-theoretical phase; 410 - Euclidean distance; 412 - Calibration value. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0016] The following describes the specific implementation of the above concept.

[0017] Please refer to Figure 1 This invention provides a millimeter-wave radar phase shifter calibration method based on a reference array, the method comprising: Step 100: Obtain the pre-constructed reference phase matrix, so that the millimeter-wave radar to be calibrated uses the reference phase matrix as the initial phase of the phase shifter to transmit millimeter-wave signals to the corner reflector; wherein, the reference phase matrix includes a set of reference phases for each theoretical phase from 0 to 360 degrees, and the set of reference phases for each theoretical phase contains several reference phase points. Step 102: Obtain echo data of the corner reflector at each reference phase point in each theoretical phase to obtain a set of complex values ​​of the angular inverse distance in each theoretical phase; Step 104: Based on the set of complex values ​​of the angular inverse distance under all theoretical phases, determine the actual zero phase point of the angular inverse and the theoretical phase corresponding to the actual zero phase point of the angular inverse, so as to deduce the correspondence between the actual phase of the angular inverse and the theoretical phase. Step 106: Determine the coordinate values ​​of the 360 ​​theoretical phases of the angular inversion on the complex plane, and combine them with the set of complex values ​​of the angular inversion distance corresponding to the actual phase of the angular inversion to accurately calibrate the actual phase calibration value corresponding to each theoretical phase.

[0018] In this embodiment of the invention, a millimeter-wave signal is transmitted to the corner reflector by using the reference phase array as the initial phase of the phase shifter, and the echo data of the corner reflector at each reference phase point in each theoretical phase is obtained to obtain the set of complex values ​​of the angle-phase distance in each theoretical phase. By finding the zero phase and matching the distance, high-precision calibration of the spatial angle-phase relationship is achieved directly, solving the calibration problem of the antenna's own error. Moreover, it can be implemented with only software algorithms and does not require additional hardware equipment.

[0019] The following description Figure 1 The execution method for each step is shown.

[0020] For step 100: In some implementations, the reference phase lattice is constructed as follows: Generate a rectangular phase dot matrix for the millimeter-wave radar to be calibrated, and construct a circular annular region within the rectangular phase dot matrix as a reference region; Angle expansion is performed based on each theoretical phase degree to extract a fan-shaped sampling area corresponding to each theoretical phase degree from the reference area; Determine the minimum number of phase points in the sector sampling region for each theoretical phase, discard the redundant values ​​in the sector sampling region with more phase points than the minimum number of phase points, and obtain the reference phase set for each degree of theoretical phase, which constitutes the reference phase matrix.

[0021] In this embodiment, reference Figure 2 The reference area shown is used to generate a 128×128 rectangular phase dot matrix for the millimeter-wave radar to be calibrated. A circular region is formed with coordinates (64, 64) as the center and a radius of 64. To reduce the reference area and computational load, the radius is extended inward by 4, forming an annular region with a radius of 61~64. Figure 2 The red circular area shown is used as a reference area.

[0022] refer to Figure 3 The fan-shaped sampling area shown is expanded angularly based on each degree of theoretical phase. Each degree of theoretical phase is expanded by 5 angular ranges to the left and right. For example, taking 30 degrees as an example, it is expanded to 25-35 degrees. A fan-shaped sampling area corresponding to the 30-degree theoretical phase is extracted from the reference area. This results in a fan-shaped sampling area of ​​0-360 degrees.

[0023] Determine the minimum number of phase points in the sector sampling region of each theoretical phase. Discard the redundant values ​​in the sector sampling region where the number of phase points exceeds the minimum number of phase points to obtain the reference phase set for each degree of theoretical phase. For example, if the minimum number of phase points is 7, then the reference phase set for each degree of theoretical phase contains 7 reference phase points, resulting in a 360×7 reference phase point matrix.

[0024] It should be noted that the minimum number of phase points is 7, but 7 is not the only choice; it can be other numbers. There is no unique restriction on it here.

[0025] Regarding step 102: Seven reference phase points from the reference phase set for each theoretical phase are sequentially used as the initial phase for the phase shifter's rotation. A millimeter-wave signal is emitted towards the corner reflector. The radar acquires the echo data reflected by the corner reflector. A one-dimensional FFT is performed on the acquired echo data to obtain all complex values ​​at the location of the corner reflector, resulting in the set of complex values ​​for the angular inverse range under each theoretical phase. It can be understood that the angular inverse range complex value set has the same dimension as the reference phase set, and the set of complex values ​​for the angular inverse range under each theoretical phase also contains seven complex values.

[0026] Regarding step 104: In some implementations, step 104 may include: For each theoretical phase, perform the following: The set of complex values ​​of the angular inverse distance dimension of the current theoretical phase is extended to the left and right by 9 theoretical phases, forming a set of complex values ​​of the angular inverse distance dimension of 19 theoretical phases, thus obtaining the extension of the complex values ​​of the angular inverse distance dimension of the current theoretical phase. A phase-finding operation is performed on the angular inverse distance dimension complex numerical extension of the current theoretical phase to obtain the angular inverse distance dimension phase extension; The average of the diagonal anti-distance phase extension is obtained to get the average diagonal anti-distance phase of the current theoretical phase; By comparing the average phase values ​​of the angular inverse distance dimension of all theoretical phases, the theoretical phase corresponding to the minimum average phase value is determined as the actual zero phase point of the angular inverse, and the correspondence between the actual angular inverse phase and the theoretical phase is deduced.

[0027] In this embodiment, the set of complex values ​​in the angular inverse distance dimension of the current theoretical phase, matA, is expanded to the left and right by 9 sets of complex values ​​in the angular inverse distance dimension of the theoretical phase, resulting in an expansion matB of 19 theoretical phases in the angular inverse distance dimension. The expansion matB of the current theoretical phase in the angular inverse distance dimension consists of 19 sets of complex values ​​in the angular inverse distance dimension, with a dimension of 19*7 complex values. A phase calculation operation is performed on the expansion matB of the current theoretical phase in the angular inverse distance dimension, resulting in an angular inverse distance dimension phase expansion with a dimension of 19*7 phase values. The angular inverse distance dimension phase expansion is averaged to obtain the average angular inverse distance dimension phase of the current theoretical phase, resulting in 360 average angular inverse distance dimension phase values. Comparing the average angular inverse distance dimension phase values ​​of all theoretical phases, the theoretical phase corresponding to the smallest average phase value is determined as the actual zero phase point in the angular inverse distance dimension. The correspondence between the actual and theoretical phases in the angular inverse distance dimension is then deduced sequentially. For example, a theoretical phase of 4 degrees corresponds to the actual zero phase point in the angular inverse distance dimension, then a theoretical phase of 5 degrees corresponds to the actual 1 degree phase point in the angular inverse distance dimension, and so on.

[0028] It should be noted that the number 9 in the nine theoretical phases extended to the left and right is not the only choice; it can be other numbers, and there is no unique restriction on it here.

[0029] It is understandable that the current angular reflection phase accuracy is poor, only accurate to integer digits, and further calibration is required.

[0030] Regarding step 106: In some implementations, determining the coordinates of the 360-angle anti-theoretical phase in the complex plane includes: The absolute values ​​of the angular inverse distance complex numerical extensions of all theoretical phases are averaged to obtain an average amplitude value. Generate 360 ​​equally spaced radian values, and then generate a complex number array consisting of 360 complex values ​​based on these 360 ​​equally spaced radian values; Multiplying the complex number array by the average amplitude value yields the coordinates of the 360-angle anti-theoretical phase on the complex plane.

[0031] In this embodiment, the absolute values ​​of the complex numerical extension matB of the angular inverse distance of all theoretical phases are averaged to obtain an average amplitude value; 360 equally spaced radian values ​​are generated, ranging from 0 to 2π, with a spacing of 0.01745 radians, to obtain the radian value corresponding to each degree.

[0032] In some implementations, the 360 ​​complex values ​​are calculated as follows: In the formula, i is the imaginary unit in a complex number. The radian value corresponding to each angle.

[0033] In this embodiment, the radian value corresponding to each degree is substituted into the above formula to obtain a complex array consisting of 360 complex values.

[0034] Multiplying the complex number array by the average amplitude value yields the coordinates of 360 angular anti-theoretical phases in the complex plane, meaning that one angular anti-theoretical phase corresponds to one coordinate value in the complex plane.

[0035] In some implementations, the actual phase calibration value corresponding to each theoretical phase is accurately calibrated by combining the complex set of angular reflection distance dimensions corresponding to the actual angular reflection phase, including: For each angle of the anti-theoretical phase, perform the following: Calculate the coordinates of the current angular inverse theoretical phase in the complex plane and the Euclidean distance of each complex data point in the angular inverse distance dimension complex numerical extension corresponding to the current angular inverse actual phase; The complex data point with the smallest distance is used as the actual phase calibration value of the phase shifter at that angle, so as to accurately calibrate the actual phase calibration value corresponding to each theoretical phase.

[0036] In this embodiment, reference Figure 4 As shown, the coordinates of the 360 ​​angular anti-theoretical phases on the complex plane form a measured circle. For example, point 408 is the coordinate of the 30-degree angular anti-theoretical phase on the complex plane. The red dots are the 19*7 complex data points in the angular anti-distance dimension complex value extension corresponding to the current angular anti-theoretical phase (not fully marked in the figure). The Euclidean distance between each complex data point and the coordinates of the angular anti-theoretical phase on the complex plane is calculated. The complex data point with the smallest distance, i.e., point 412, is taken as the actual phase calibration value of the phase shifter to accurately calibrate the actual phase calibration value corresponding to each theoretical phase.

[0037] It is understandable that the phase value calculated by point 412 is accurate to a decimal point. For example, when it is necessary to transmit a millimeter wave signal with a 30-degree angle opposite to the actual phase, the actual phase calibration value calculated by point 412 is transmitted.

[0038] In addition, since the phase calibration of the phase shifter changes with temperature, a set of calibration values ​​can be calculated for different temperatures, and the corresponding calibration value set for the temperature can be selected based on real-time temperature feedback.

[0039] To verify the effectiveness of this embodiment, the performance of traditional methods and this solution was compared.

[0040] Therefore, this solution has the following significant advantages over existing technologies: Significantly improved accuracy: By using multi-angle sector sampling and Euclidean distance matching, the calibration accuracy is improved from ±5° to ±0.5° using traditional methods; Efficiency is greatly improved: calibration time is reduced from 30 minutes using traditional methods to 10 seconds, increasing production efficiency; Significantly reduced costs: Eliminating the need for expensive equipment such as network analyzers lowers calibration costs; High adaptability: It has good temperature adaptability (-40℃~85℃) and is suitable for various environmental conditions; Easy to integrate: It can be easily integrated into existing millimeter-wave radar systems without requiring significant modifications to the hardware design.

[0041] The millimeter-wave radar phase shifter calibration method and system provided by this invention solves many problems existing in traditional calibration methods, and can achieve efficient and accurate phase shifter calibration, significantly improving the beamforming capability and target detection accuracy of the radar system. It has important industrial application value and market prospects.

[0042] Please refer to Figure 5 This invention provides a millimeter-wave radar phase shifter calibration device based on a reference array, used to implement the steps of any method embodiment in the specification. The device includes: The acquisition unit 501 is used to acquire a pre-constructed reference phase matrix, so that the millimeter-wave radar to be calibrated can use the reference phase matrix as the initial phase of the phase shifter to transmit millimeter-wave signals to the corner reflector; wherein, the reference phase matrix includes a set of reference phases for each theoretical phase from 0 to 360 degrees, and the set of reference phases for each theoretical phase contains several reference phase points. The acquisition unit 502 is used to acquire the echo data of the corner reflector at each reference phase point in each theoretical phase, so as to obtain the set of complex values ​​of the angular inverse distance in each theoretical phase. The determining unit 503 is used to determine the actual zero phase point of the angular inverse distance and the theoretical phase corresponding to the actual zero phase point of the angular inverse distance based on the complex numerical set of all theoretical phases, so as to deduce the correspondence between the actual phase of the angular inverse distance and the theoretical phase. The calibration unit 504 is used to determine the coordinate values ​​of 360 angular inverse theoretical phases on the complex plane, so as to combine the set of angular inverse distance dimension complex values ​​corresponding to the actual angular inverse phases to accurately calibrate the actual phase calibration value corresponding to each theoretical phase.

[0043] It should be noted that the above device embodiments and method embodiments belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0044] Embodiments of this application also provide a computer device, please refer to... Figure 6 The computer device includes a processor and a memory, the memory storing at least one instruction, at least one program, code set or instruction set, the at least one instruction, at least one program, code set or instruction set being loaded and executed by the processor to implement the millimeter-wave radar phase shifter calibration method based on reference dot matrix provided in the above method embodiments.

[0045] Embodiments of this application also provide a computer-readable storage medium storing at least one instruction, at least one program, code set, or instruction set, wherein the at least one instruction, at least one program, code set, or instruction set is loaded and executed by a processor to implement the millimeter-wave radar phase shifter calibration method based on reference dot matrix provided in the above-described method embodiments.

[0046] Embodiments of this application also provide a computer program product, which includes a computer program. A processor of a computer device reads the computer program from a computer-readable storage medium and executes the computer program, causing the computer device to perform any of the millimeter-wave radar phase shifter calibration methods based on a reference dot matrix described in the above embodiments.

[0047] For ease of description, the above devices or apparatuses are described separately according to their functions, divided into various modules or units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0048] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of various embodiments or some parts of the embodiments of this application.

[0049] Finally, it should be noted that in this document, relational terms such as first, second, third, and fourth are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0050] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A millimeter-wave radar phase shifter calibration method based on a reference array, characterized in that, include: A pre-constructed reference phase matrix is ​​obtained, enabling the millimeter-wave radar to be calibrated to use the reference phase matrix as the initial phase of the phase shifter to transmit millimeter-wave signals to the corner reflector; wherein, the reference phase matrix includes a set of reference phases for each theoretical phase from 0 to 360 degrees, and each set of reference phases for each theoretical phase contains several reference phase points. Echo data of the corner reflector at each reference phase point in each theoretical phase are obtained to obtain a set of complex values ​​of the angular inverse distance in each theoretical phase. Based on the set of complex values ​​of the angular inverse distance under all theoretical phases, the actual zero phase point of the angular inverse and the theoretical phase corresponding to the actual zero phase point of the angular inverse are determined, so as to deduce the correspondence between the actual phase of the angular inverse and the theoretical phase. The coordinates of 360 theoretical phases in the complex plane are determined, and combined with the set of complex values ​​of the inverse distance corresponding to the actual phases in the inverse plane, the actual phase calibration values ​​corresponding to each theoretical phase are accurately calibrated.

2. The method as described in claim 1, characterized in that, The reference phase lattice is constructed in the following manner: A rectangular phase dot array is generated for the millimeter-wave radar to be calibrated, and a circular annular region is constructed in the rectangular phase dot array as a reference region. Angle expansion is performed based on each theoretical phase degree to extract a fan-shaped sampling area corresponding to each theoretical phase degree from the reference region. Determine the minimum number of phase points in the sector sampling region for each theoretical phase, discard the redundant values ​​in the sector sampling region with more phase points than the minimum number of phase points, and obtain the reference phase set for each degree of theoretical phase, which constitutes the reference phase matrix.

3. The method as described in claim 1, characterized in that, The method, based on the complex numerical set of angular reflection distances under all theoretical phases, determines the actual zero-phase point of the angular reflection and the corresponding theoretical phase, and then deduces the correspondence between the actual angular reflection phase and the theoretical phase, including: For each theoretical phase, perform the following: Expand the set of complex values ​​in the angular inverse distance dimension of the current theoretical phase to the left and right by 9 theoretical phases each, to obtain a set of complex values ​​in the angular inverse distance dimension consisting of 19 theoretical phases, thus obtaining the angular inverse distance dimension complex value expansion of the current theoretical phase; A phase-finding operation is performed on the angular inverse distance dimension complex numerical extension of the current theoretical phase to obtain the angular inverse distance dimension phase extension; The average of the angular anti-range phase extension is calculated to obtain the average angular anti-range phase of the current theoretical phase; By comparing the average phase values ​​of the angular inverse distance dimension of all theoretical phases, the theoretical phase corresponding to the minimum average phase value is determined as the actual zero phase point of the angular inverse, and the correspondence between the actual angular inverse phase and the theoretical phase is deduced.

4. The method as described in claim 3, characterized in that, Determining the coordinates of the 360-angle anti-theory phase in the complex plane includes: The absolute values ​​of the angular inverse distance complex numerical extensions of all theoretical phases are averaged to obtain an average amplitude value. Generate 360 ​​equally spaced radian values, and generate a complex number array consisting of 360 complex values ​​based on the 360 ​​equally spaced radian values; Multiplying the complex number array by the average amplitude value yields the coordinates of the 360 ​​angular anti-theoretical phases in the complex plane.

5. The method as described in claim 4, characterized in that, The 360 ​​complex values ​​are calculated as follows: In the formula, i is the imaginary unit in a complex number. The radian value corresponding to each angle.

6. The method as described in claim 3, characterized in that, The set of complex values ​​of the angular reflection distance corresponding to the actual phase of the combined angular reflection is used to accurately calibrate the actual phase calibration value corresponding to each theoretical phase, including: For each angle of the anti-theoretical phase, perform the following: Calculate the coordinates of the current angular inverse theoretical phase in the complex plane and the Euclidean distance of each complex data point in the angular inverse distance dimension complex numerical extension corresponding to the current angular inverse actual phase; The complex data point with the smallest distance is used as the actual phase calibration value of the phase shifter at that angle, so as to accurately calibrate the actual phase calibration value corresponding to each theoretical phase.

7. A millimeter-wave radar phase shifter calibration device based on a reference array, used to implement the steps of the method described in any one of claims 1-6, characterized in that, include: The acquisition unit is used to acquire a pre-constructed reference phase matrix, so that the millimeter-wave radar to be calibrated can use the reference phase matrix as the initial phase of the phase shifter to transmit millimeter-wave signals to the corner reflector; wherein, the reference phase matrix includes a set of reference phases for each theoretical phase from 0 to 360 degrees, and the set of reference phases for each theoretical phase contains several reference phase points. The acquisition unit is used to acquire echo data of the corner reflector at each reference phase point in each theoretical phase, so as to obtain the set of complex values ​​of the angular inverse distance in each theoretical phase. The determination unit is used to determine the actual zero phase point of the angular inverse distance and the theoretical phase corresponding to the actual zero phase point of the angular inverse distance based on the complex numerical set of all theoretical phases, so as to deduce the correspondence between the actual phase of the angular inverse distance and the theoretical phase. The calibration unit is used to determine the coordinate values ​​of the 360 ​​theoretical phases of the angular inversion on the complex plane, so as to accurately calibrate the actual phase calibration value corresponding to each theoretical phase by combining the set of complex values ​​of the angular inversion distance corresponding to the actual phase of the angular inversion.

8. A computer device, characterized in that, The computer device includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to implement the steps of the method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the method described in any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 1-6.

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