97 results about "Radar calibration" patented technology

The invention discloses a multi-radar calibration method and system based on mapping, and is suitable for an automatic driving vehicle and multi-sensor fusion scene. According to the method, firstly, time sorting and random sampling are carried out on top radar point cloud, distortion correction is carried out in combination with local geometric feature extraction and a continuous time GICP factor model, and high-precision mapping is completed under an iVox voxel structure and factor graph optimization framework. Then, on the basis of a top radar optimization pose, a local map is cut, and main radar calibration is achieved through ICP registration, ground normal vector alignment and height compensation; and with the main radar as a reference, blind compensation radar pose optimization is completed step by step. And finally, unifying the poses of the radars to a main radar and IMU coordinate system, and outputting color point clouds and intermediate data. Compared with an existing calibration mode depending on external hardware, the method has the advantages of being low in cost, high in precision, high in robustness, high in automation degree and the like.

The invention discloses a shipborne unattended radar alignment calibration system, which relates to the technical field of shipborne alignment calibration and is characterized in that an alignment calibration task list containing conditions such as time / position / waveform parameters is configured and issued through an upper computer terminal, and a shipborne data recording and control unit is used as a center; based on navigation data and a unified time reference provided by a satellite navigation time service and positioning module, the three-dimensional compass outputs attitude data of a ship, task triggering conditions are automatically judged, antenna pointing is adjusted through attitude compensation calculation, or area scanning is executed, so that a task is completed. A radar signal source is controlled to generate a programmable radar analog signal in an active calibration mode and transmit the programmable radar analog signal through an antenna, a target true value track is generated in a passive calibration mode, and meanwhile full-process data with timestamps are recorded in a concentrated mode. According to the invention, the problems of manual dependence and inaccurate time-space control of traditional shipborne calibration in research and development of radar receivers and electronic investigation equipment are solved, and unattended operation and accurate shipborne calibration are truly realized.

The invention provides a rain measuring radar calibration and data correction method, and the method comprises the steps: obtaining the first observation coordinates of each corner reflector in a target region through a rain measuring radar, and obtaining the real coordinates of each corner reflector; and based on the first observation coordinates of the corner reflectors and the real coordinates of the corner reflectors, determining a correction model of the rain-measuring radar to complete model calibration of the rain-measuring radar. The correction model can be used for correcting rain measurement data of a rain measurement radar to obtain corrected rain measurement data. According to the method, the correction model is established by adopting the association between the coordinates and the real coordinates in the distributed corner reflector image, so that the geometric calibration of the rain radar image is realized, the accuracy of the coordinates of the rain radar can be improved, the geometric error of the existing rain radar caused by the antenna position offset and the antenna pointing offset is solved, and the accuracy of the rain radar image is improved. And the accuracy of the rain measurement data monitored by the rain measurement radar is not accurate.

Radar sensor alignment validation may ensure a relative position and / or orientation of two or more radar sensors. Radar sensor alignment validation may include determining whether radar data used to determine a sensor alignment is usable for validation and / or determining whether the sensor alignment itself is accurate. This may include iteratively altering a sensor alignment by changing at least one sensor's relative pose, re-determining altered radar data using the altered pose, and determining an updated sensor alignment for the altered radar data. This process may be iterated and metrics may be determined for multiple updated sensor alignments determined this way. These metrics may be used to determine suitability of the underlying radar data for validation and / or an accuracy of the sensor alignment. A validated radar sensor alignment may be used as part of controlling an autonomous vehicle.

The embodiment of the invention discloses a target distance adjustable laser radar calibration system and calibration method, targets with different reflectivity are installed on a target tool table, the target tool table slides on a guide rail and can rotate to switch the targets, and the distance between the targets and a to-be-calibrated laser radar is measured through a range finder. During calibration, the upper computer controls the target tool table to slide along the guide rail and receives the distance measured by the distance measuring instrument, controls the target tool table to stop moving when the distance is equal to the calibration distance, controls the to-be-calibrated laser radar to measure the distance of the target to obtain distance measuring data, receives the distance measuring data of the to-be-calibrated laser radar and stores the distance measuring data and the calibration distance. The targets are not required to be manually placed and the targets with different reflectivity are not required to be manually replaced according to the calibration distance, the distance of the targets on the target tool table can be accurately controlled and the targets with different reflectivity can be automatically switched through the range finder and the upper computer, the accuracy of the distance from the targets to the to-be-calibrated laser radar is improved, manual operation is not required, and the working efficiency is improved. And the calibration data acquisition efficiency is improved.

The invention discloses a bilinear polarization phased array weather radar calibration method and system based on a calibration platform, and relates to the technical field of radar calibration, and the method comprises the steps: obtaining a first transmitting parameter, a first receiving parameter, a second transmitting parameter and a second receiving parameter which are matched with a current mode of a target radar; and calibrating the target radar in the current mode according to the first sending parameter, the first receiving parameter, the second sending parameter and the second receiving parameter. According to the method, the radio frequency signal matched with the mode of the phased array radar is acquired, various calibration parameters of the phased array radar in different working modes are acquired, and the method is suitable for calibration of the phased array radar in all complex modes; and the phased array radar is calibrated through the first sending parameter, the first receiving parameter, the second sending parameter and the second receiving parameter, so that accurate separation and traceability of errors of a plurality of links in the radar system are realized, and the detection precision of radar related parameters is effectively improved.

The invention provides a power grid anti-bird multichannel twitter sound source positioning and intervention method, which comprises the following steps: acquiring sound signals from a power grid area through a multichannel microphone array equipped with a laser radar calibration module, optimizing a separation threshold by adopting Fourier transform and combining a preset bird voiceprint feature library, separating twitter components and noise components, and performing interference on the twitter components and the noise components; pure birdsong signals are obtained; according to the pure birdsong signal, calculating the time difference between channels by adopting a time delay estimation method, dynamically correcting a preset threshold value by combining a real-time environment sensor, if the time difference exceeds the corrected threshold value, marking as an effective birdsong event, and adopting a centimeter-level differential GPS module to assist in determining the position coordinates of the birds; interference execution confirmation is received through an edge computing node and returned to a system log, a D-S evidence theory data fusion method is adopted to integrate the positioning coordinates and the risk level, if it is judged that the fusion result is consistent in a preset confidence interval, the bird damage monitoring model is updated based on an incremental learning algorithm, and real-time closed-loop feedback is obtained.

The application discloses a radar calibration method and device, a radar device and a radar test system. The radar calibration method is applied to the radar test system. The radar test system comprises a radar device and a radar calibration device. The radar calibration device comprises a multi-faceted refractive lens and a flying device. The multi-faceted refractive lens is arranged on the flying device. The method comprises the following steps: the radar device receives a transmission signal of the radar calibration device. The transmission signal is a reflection signal of the multi-faceted refractive lens to electromagnetic waves sent by the radar device. Based on the transmission signal, the actual reflection power of the radar calibration device to the electromagnetic waves is determined. When the error value between the actual reflection power and the standard reflection power of the electromagnetic waves of the radar calibration device is less than a preset threshold, it is determined that the calibration of the radar device is completed. The method can complete the calibration of the radar device based on the reflection signal of the multi-faceted refractive lens in the radar calibration device to the electromagnetic waves sent by the radar device, and ensures the accuracy of the calibration of the radar device.

A radar calibration device for calibrating a radar system installed on a vehicle, is provided by the present disclosure. The radar system comprises a radar module and a radar control unit configured to receive a first signal output by the vehicle. The radar calibration device comprises a memory storing a configuration software. The radar calibration device also comprises a signal calibration unit providing information. The radar calibration device also comprises a processor coupled to the memory, the signal calibration unit and the radar control unit and configured to executing the configuration software. The processor calibrates the first signal to a second signal based on the information.

The application relates to the field of surveying and mapping, in particular to a laser-IMU installation deviation calibration method, a surveying and mapping method and a system based on visual assistance, wherein a plurality of images under a plurality of laser radar calibration conditions are processed according to camera parameters and camera-IMU correlation parameters, laser radar-IMU installation deviation is obtained, manual operation is avoided, high-precision and high-efficiency deviation calibration is realized, the relative spatial relationship of the laser radar-IMU is adjusted according to the laser radar-IMU installation deviation, the accurate matching and installation of the laser radar and the IMU are ensured, the frame corresponding relationship between the IMU data and the point cloud data is constructed according to the dynamic characteristics of a surveying and mapping path, the most matched point cloud data points of each IMU data position point on the surveying and mapping path are screened, a local point cloud map corresponding to the position point is constructed, and therefore the spatial map of a target region where the surveying and mapping path is located is integrated and constructed. The application can reduce data omission and improve the accuracy and reliability of spatial surveying and positioning through local point cloud data processing and map construction.

The invention relates to the field of phased radars, and discloses an active phased array radar calibration method, which is used for improving the accuracy of actually measured phase data. Comprising the following steps: calculating theoretical excitation phases of radiation units according to an antenna array physical geometric structure and a target beam directional angle; enabling the antenna to sequentially excite the radiation units and collect coupling signals in a single-channel mode, and performing analysis to obtain an actually measured amplitude, a phase and a phase deviation; synthesizing the theoretical excitation phase and the phase deviation to generate an actual emission phase, and constructing a phase compensation lookup table; and after compensation by using the lookup table, measuring the actual directional diagram, and if not, performing fine adjustment. The calibration precision and reliability are improved, and the high-precision detection requirement of the active phased array radar can be met.

The present application relates to a kind of in expressway traffic scene multi-radar origin information automatic calibration method, system, equipment and medium, its method includes: obtaining the equipment information and trajectory data of radar to be corrected, and judging radar irradiation direction;Obtain and process map data;Determine whether the radar to be corrected road is reference radar;If it is the reference radar of no connection area, adjust the angle of trajectory data after cleaning, and with the road section range in map data matching, according to the number of matched trajectory to determine the best correction angle;If it is the non-reference radar of having connection area, reference the reference radar of relative connection, determine the optimal matching trajectory by cleaning and trajectory matching, and preliminary correction is carried out according to the difference between matching trajectory, according to the matching degree of trajectory data before cleaning in the direction of radar irradiation and road section range secondary correction is carried out.The present application effectively solves the problem in the process of radar calibration by advanced trajectory processing technology and automatic calibration process.

The invention provides a laser radar calibration method and device and a computer readable storage medium, and the method comprises the steps: obtaining the working time and junction temperature of n times of scanning of a laser radar, and determining the emission light intensity of the laser radar according to the working time and junction temperature of n times of scanning. Further, probe light is emitted to the target object, an echo signal is received, and the reflectivity of the target object is obtained according to the intensity of the emitted light and the echo signal. Through the method, the device and the computer readable storage medium, the problem that the measured reflectivity information is inaccurate due to power attenuation of the laser radar transmitter can be improved, and the accuracy of the detection information is improved.

The application discloses a kind of laser radar calibration assembly, method, device, system and storage medium, it is related to radar positioning technical field, the laser radar calibration assembly includes: calibration platform, for carrying mobile robot travel;Target feature code, is set on calibration platform;Purpose feature code is used for the feature code sensing device on mobile robot reading;Target obstacle, is connected on calibration platform;Target obstacle is used to reflect the target laser that positioning radar on mobile robot emits.This application discloses the laser radar calibration assembly can solve when there is pose deviation between laser radar coordinate system and vehicle body coordinate system, the technical problem that AMR autonomous mobile robot navigation precision is lower.

The invention relates to the technical field of radar calibration, and discloses a single-line laser radar calibration method, device and equipment and a readable storage medium. The method comprises the following steps: placing a single-line laser radar in a preset calibration room, obtaining a first source point cloud obtained by scanning the preset calibration room by the single-line laser radar, and obtaining a target point cloud corresponding to the preset calibration room; based on the source point cloud and the target point cloud, a reference extrinsic parameter matrix of the single-line laser radar is determined in combination with an iterative nearest point algorithm; acquiring a second source point cloud obtained by scanning the preset calibration room by the single-line laser radar, and fusing the second source point cloud and the target point cloud based on the reference extrinsic parameter matrix to obtain a fused point cloud; and if the fused point cloud meets the preset condition, calibrating the reference extrinsic parameter matrix as a target extrinsic parameter matrix of the single-line laser radar. Depending on manual operation, radar motion or a specific target plate for calibration is avoided, calibration complexity is reduced, manual subjectivity is prevented from influencing a calibration result, and robustness of single-line laser radar calibration is improved.

The application discloses a laser radar calibration method, by rotating the reflecting plate forward and backward, the reflecting plate is switched between two positions of laser vertical and inclined incidence on the reflecting surface, and then the reflected signal strength of the laser reflected on the reflecting surface is continuously changed, the fitting calculation of the reflected signal strength received by the photoelectric detector is carried out, and the condition formula X=peak+scalea_peak and Y=real distance-TOF distance measurement value are met, the respective fitting degrees are calculated by searching the scale coefficient in the whole range, the maximum fitting degree is taken as the optimal solution, the correction coefficient of the global distance fitting of the TOF radar is calculated, the TOF distance measurement value is corrected according to the determined correction coefficient and fitting coefficient and the peak and a_peak combined with each distance measurement, and finally the TOF distance correction value is obtained, so that the calibration method of the whole laser radar can be simplified under the premise of the same reflecting plate, and the test cost is reduced.

The embodiment of the invention relates to the technical field of radar calibration, and discloses a laser radar calibration method and device, a medium and a product. The method comprises the following steps: acquiring calibration data through RTK equipment and a calibration board, selecting a plurality of calibration positions in a laser radar visual field range, and recording an RTK coordinate and a laser radar point cloud picture of each calibration position; according to the laser radar point cloud picture, a calibration plate point cloud is extracted; calculating a minimum bounding rectangle of the point cloud of the calibration plate, and determining a center point coordinate of the calibration plate based on a diagonal intersection point of the minimum bounding rectangle; calculating a rotation matrix and a translation matrix between a laser radar coordinate system and a geodetic coordinate system according to the center point coordinate and the RTK coordinate; and calibrating the laser radar according to the rotation matrix and the translation matrix. The technical problem that the manual calibration precision of the laser radar is low can be at least solved.

A radar calibration device for calibrating radar sensors in vehicles includes a housing and at least two lasers. The housing is adapted to be mounted onto a mounting bracket of a radar sensor of a vehicle.

The utility model discloses a radar calibrator, and relates to the technical field of radar calibration. The radar calibrator comprises a bottom sliding rail, a controller and a battery are installed in the middle of the interior of the bottom sliding rail, the lower ends of the left side and the right side of the bottom sliding rail are connected with a base, the lower ends of the front side and the rear side of the base are connected with adjusting sliding blocks in an inserted mode, and the lower ends of the adjusting sliding blocks are connected with circular gaskets. The upper ends of the sliding blocks are connected with a handle through threads, a plane bearing is connected between the lower surface of the upper end of the handle and the upper surface of the base, the upper ends of the left sliding block and the right sliding block of the bottom sliding rail are connected with two side calibration lasers, and the upper end of the middle of the bottom sliding rail is connected with an upper end sliding rail. A radar position calibration laser is installed in a sliding block of the upper end sliding rail, a clamping groove is connected to the front surface of the sliding block of the upper end sliding rail through a bolt, a calibration plate is connected to the front surface of the clamping groove in an inserted mode, and a middle calibration laser is connected to the lower end of the interior of the upper end sliding rail in an inserted mode.

This paper presents a method and system for calibrating airborne radar based on a fiber optic gyroscope-based POS system. Relating to the field of airborne radar detection technology, it aims to efficiently calibrate the error between the phase center of the radar antenna and the reference center of the POS system when the fiber optic gyroscope-based POS system cannot be aligned in a static environment. The method includes: In a static state, the radar antenna and reference POS are mounted on an antenna test frame in an open area. The roll and pitch angles of the radar antenna are adjusted, the reference POS is initialized, and its three-dimensional attitude is recorded. The attitude relationship between the two is obtained using a total station. In a dynamic test run, the test frame is fixed to the test vehicle. The high-precision POS and reference POS are powered on and initialized. The vehicle travels at a specified speed, and multiple sets of convergent attitude information are recorded. The data is processed to obtain the attitude relationship. Combining the two attitude relationships, the installation misalignment angle between the radar antenna and the high-precision POS is calculated, completing the calibration. This method can efficiently achieve accurate calibration of airborne radar, ensuring operational performance.

The application provides a point cloud fusion method and device for collecting data and electronic equipment. The method is suitable for fusing point clouds detected by a radar on a target vehicle. According to radar calibration data, first calibration data, second calibration data, first data and second data of different regions of the target vehicle, the first point cloud in the first radar coordinate system is transformed into a target coordinate system with the second vehicle body as a reference to obtain the first target point cloud. The second point cloud in the second radar coordinate system is also transformed into the target coordinate system to obtain the second target point cloud. Finally, the fusion point cloud is determined according to the first target point cloud and the second target point cloud. According to the data measured by the sensors of different vehicle bodies of the target vehicle and the calibration data, the pose changes of different vehicle bodies are fully considered, and then the point clouds measured by the radars of different vehicle bodies are directly fused into the same coordinate system based on the changes.

The utility model relates to the technical field of calibration, in particular to a placing structure for radar calibration, which comprises a bottom plate, a sliding rail, a moving seat, a placing plate, a spring, a friction plate and a pull rod, when the radar is calibrated, a calibrator installs the radar on the placing plate by using a hand, pulls the pull rod and pulls the pull rod out of the slide rail, at the moment, the spring in the moving seat is in a stretched state, and then pulls or pushes the moving seat through the pull rod to enable the moving seat to slide in the slide rail, so that the position of the calibrated radar on the placing plate is adjusted; after the movable seat moves to a proper position in the sliding rail, the checker loosens the pull rod and removes the tension on the spring, the spring resets to drive the pull rod to reset, the friction plate abuts against the sliding rail, braking of the movable seat is achieved, and finally calibration operation of the radar is carried out, and the placing structure can be used for installing the radar, adjusting the position of the radar and assisting radar calibration. Operation is convenient and fast.

The application discloses a kind of laser radar automatic calibration device, including radar support, first light control platform, second light control platform, first light control board and second light control board, radar support is used to invert fixed to be calibrated laser radar component;First light control platform and second light control platform are respectively set in radar support two sides;First light control board is installed in the end of first light control platform and extends into laser radar component, second light control board is installed in the end of second light control platform and extends into laser radar component, first light control board and second light control board are tightly aligned up and down. By driving first light control board and second light control board to occur relative displacement, to realize the size of the aperture that two V-shaped openings are combined, to adjust the amount of reflected laser received by laser receiver, to simulate the laser reflected by detection object under different distances. Therefore, it is not necessary to move detection object for a long distance, and the required space distance for laser radar calibration is reduced.

The invention relates to the technical field of image data processing, and discloses a multi-sensor static external parameter calibration method and device and electronic equipment, and the method comprises the steps: calculating and obtaining camera calibration external parameters according to camera observation data and target information under a vehicle body coordinate system; the camera observation data comprises image data of a calibration scene; the camera calibration external parameter represents a conversion relation from a camera coordinate system to a vehicle body coordinate system; joint calibration external parameters of the camera and the laser radar are calculated according to the camera observation data and the radar observation data; the radar observation data comprises multi-frame point cloud data of a calibration scene; representing a conversion relation from a radar coordinate system to a camera coordinate system by joint calibration external parameters; calculating radar calibration external parameters according to the camera calibration external parameters and the joint calibration external parameters; the radar calibration external parameters represent the conversion relation from the radar coordinate system to the vehicle body coordinate system. The method has the beneficial effect that the accuracy of calibrating the external parameters of the vehicle is improved.

The application provides a laser radar calibration method, relates to the field of laser radar calibration, and comprises the following steps: arranging to-be-calibrated laser radars in light transmission plates of containers respectively; obtaining a detection distance between the light transmission plate and a light reflection plate; and calibrating each laser radar according to detection distance data of the laser radars and real data between the light transmission plate and the light reflection plate. In the laser radar calibration method, the ranging data of the radars in a specific liquid environment in actual application is collected, each radar is calibrated and corrected individually, and thus the ranging accuracy of each radar in the specific liquid environment is ensured.

The invention relates to the field of sensor calibration, in particular to a sensor vision camera radar calibration method and system. The method comprises the following steps: carrying out environment monitoring based on sensors, and outputting a data set of a plurality of sensors; performing feature extraction on the data set to obtain a multi-modal feature set; based on the data set, adaptively selecting a calibration mode and a sensor combination; performing calibration optimization on the multi-modal feature set based on the calibration mode and the sensor combination to obtain a calibration result; calculating real-time calibration precision based on the calibration result; and automatically triggering online calibration updating according to the real-time calibration precision, performing increment calibration optimization, and storing each calibration result. According to the invention, the calibration efficiency and the calibration precision of multiple sensors are improved.

The invention belongs to the technical field of radar calibration, and particularly discloses a method for automatically adjusting the flatness of a radar power beacon machine, which comprises a receiving link, a digital radio frequency storage DRFM unit and a transmitting link, the digital radio frequency storage DRFM unit comprises an AD conversion chip, an FPGA chip and a DA conversion chip, the FPGA chip presets a flatness power coefficient table, and the DA conversion chip is connected with the receiving link. The flatness power coefficient table is a frequency-link combination two-dimensional power coefficient matrix; the AD conversion chip converts an analog signal transmitted by the receiving link into a digital signal; the FPGA chip traverses the flatness power coefficient table according to the frequency and link combination of the received digital signal, and outputs a corresponding digital power compensation value; and the DA conversion chip carries out 0.01 dB stepping adjustment on the signal amplitude according to the received digital power compensation value. According to the invention, flatness leveling of any bandwidth and any frequency is realized, and the problem of non-adjustable flatness in broadband, multi-fluctuation and dynamic link scenes is solved.

The application discloses a laser radar calibration method, computer equipment, a readable storage medium and a motor vehicle, and relates to the technical field of automatic driving, and comprises the following steps: a laser radar acquires true value data of a measured target; a vision sensor acquires a surround view image; the true value data of the measured target is projected on the corresponding surround view image to form a 3D detection frame; a corresponding radar 2D detection frame is formed based on the 3D detection frame; target detection is performed on the surround view image to form a corresponding vision 2D detection frame; an intersection-over-union of the radar 2D detection frame and the vision 2D detection frame is calculated; and the radar 2D detection frame and the vision 2D detection frame are matched based on the intersection-over-union to calibrate the laser radar. The laser radar calibration method provided by the application can correct false detection and missed detection and the like in true value data obtained by a laser radar algorithm, and improves the accuracy of the true value data.

The invention relates to a radar metal ball calibration method and device, computer equipment and a medium, and the method comprises the steps: obtaining the directional diagram data of a radar transmitting antenna and a receiving antenna, carrying out the normalization processing of the directional diagram data, and obtaining the normalized data; on the basis of the normalized data of the corresponding angles, discrete grids are constructed, and solid angle infinitesimal elements of all grids in the discrete grids are calculated; performing discrete integral operation on the normalized data of the corresponding angle based on the solid angle infinitesimal to obtain integral data of the corresponding angle; obtaining an input parameter of radar calibration, and calculating a theoretical reflectivity factor of the receiving antenna at each angle based on the input parameter and the integral data; and calculating a corresponding radar calibration parameter based on the theoretical reflectivity factor of each angle, and transmitting the radar calibration parameter to a signal processor to complete system calibration. According to the method, the calibration precision of the radar system in the wide-transmitting narrow-receiving mode can be improved.

The invention provides a self-calibration radar calibration method. The method comprises the following steps: acquiring a target link gain parameter, transmitting the target link gain parameter to a microwave module through an intermediate-frequency link, sampling the amplitude of an intermediate-frequency signal by using an analog-to-digital conversion unit integrated in a signal generation module to obtain first amplitude data, and calculating the gain of the intermediate-frequency signal according to the first amplitude data and a preset link gain parameter. Controlling a down-varying attenuator and a power amplifier channel in the microwave module, transmitting the reference signal through a radio frequency link which is the same as an external input signal, sampling an intermediate frequency signal corresponding to the reference signal transmitted through the radio frequency link to obtain second amplitude data, and outputting the second amplitude data according to the preset output power of the reference signal and the second amplitude data; and determining the actual gain of the link, comparing the actual gain with the target link gain parameter to obtain a gain error, and adjusting the attenuation value of an upper variable attenuator in the microwave module until the gain error meets a preset error threshold, thereby completing the automatic calibration of the link gain of the radar calibration equipment.