阅读说明：本技术 一种基于fmcw安防雷达测角校正方法 (Security radar angle measurement correction method based on FMCW ) 是由 程小军 李昂 李开文 于 2021-06-29 设计创作，主要内容包括：本发明提供一种基于FMCW安防雷达测角校正方法,包括以下步骤：步骤1：安装近程FMCW安防雷达,在距离雷达法线方向10m、θ-(1)＝0位置放置多普勒模拟器作为校准目标；步骤2：接收步骤1中目标回波信号,并对目标回波信号进行FFT处理,得到相位信息φ-(1)；步骤3：再将多普勒模拟器作为校准目标分别放置于距离雷达法线方向10m处关于θ-(1)＝0对称的两个位置,通过近程FMCW安防雷达采集目标回波数据,并对目标回波信号进行处理,并得到相位信息φ-(2)和φ-(3)；步骤4：通过相位信息φ-(1)、φ-(2)和φ-(3),得到相位偏差因子以及单元间距偏差因子Δd-(修)；本发明确保了雷达测角精度,同时方法高效、易实施,还可以模拟不同位置及速度的目标对雷达测角进行校准,提高了校准效率。(The invention provides a security radar angle measurement correction method based on FMCW, which comprises the following steps: step 1: installing short-range FMCW security radar at a distance of 10m and theta from the normal direction of the radar 1 A Doppler simulator is placed as a calibration target at the position of 0; step 2: receiving the target echo signal in the step 1, and performing FFT processing on the target echo signal to obtain phase information phi 1 (ii) a And step 3: then the Doppler simulator is used as a calibration target and is respectively placed at a position 10m away from the normal direction of the radar and related to theta 1 Acquiring target echo data through a short-range FMCW security radar at two symmetrical positions, processing the target echo signal and obtaining phase information phi 2 And phi 3 (ii) a And 4, step 4: by phase information phi 1 、φ 2 And phi 3 Obtaining a phase deviation factor And a cell pitch deviation factor Δ d Repair the (ii) a The invention ensures the angle measurement precision of the radar,meanwhile, the method is efficient and easy to implement, targets at different positions and speeds can be simulated to calibrate the radar angle measurement, and the calibration efficiency is improved.)

1. An FMCW-based security radar angle measurement correction method is characterized by comprising the following steps:

step 1: installing short-range FMCW security radar at a distance of 10m and theta from the normal direction of the radar₁A Doppler simulator is placed at the position of 0 as a calibration target, and target echo data are collected through the short-range FMCW security radar;

step 2: receiving the target echo signal in the step 1, and performing FFT processing on the target echo signal to obtain phase information phi₁；

And step 3: then the Doppler simulator is used as a calibration target and is respectively placed at a position 10m away from the normal direction of the radar and related to theta₁Acquiring target echo data through the short-range FMCW security radar at two symmetrical positions of 0, processing the target echo signal and obtaining phase information phi₂And phi₃；

And 4, step 4: by phase information phi₁、φ₂And phi₃Obtaining a phase deviation factorAnd a cell pitch deviation factor Δ d_{Repair the}。

2. The FMCW-based security radar angle measurement correction method of claim 1, wherein: in the step 2, the signal processor respectively performs two-dimensional FFT processing on the target echoes received by the receiving antenna to obtain phase information of each target echo, wherein the phase information is phi₁＝[φ₁₁，φ₁₂]。

3. According to claim 1The security radar angle measurement correction method based on FMCW is characterized in that: in the step 3, in the direction of deviating from the normal line of the radar by theta₂α ° and θ₃Doppler simulators are respectively placed at the position of 10m away from the short-range FMCW security radar to serve as calibration targets, target echo data are collected through the FMCW security radar, two-dimensional FFT processing is respectively carried out on the target echoes received by the receiving antenna through a signal processor, and theta is obtained₂α ° and θ₃Two phase information of each path obtained in two states of alpha DEG, the phase information is phi₂＝[φ₂₁，φ₂₂]And phi₃＝[φ₃₁，φ₃₂]。

4. The FMCW-based security radar angle measurement correction method of claim 2, wherein: in the step 4, according to the radar angle measurement formulaWhereind-lambda represents the distance between two receiving antennas,Representing wave number, lambda representing radar operating wavelength, and phase information phi in step 2₁＝[φ₁₁，φ₁₂]Obtaining a phase deviation factor

5. The FMCW-based security radar angle measurement correction method of claim 3, wherein: according to the phase information phi in step 3₂＝[φ₂₁，φ₂₂]In step 3, the Doppler simulator deviates from the normal direction theta of the radar₂At α °, according to the formula for radar angle measurementWhereinThe wave number and lambda are expressed by the radar operating wavelength, and theoretically d is equal to lambda without considering the receiving channel spacing error, but in actual engineering, the radar receiving channel spacing has deviation and needs to be corrected according to the phase information phi in the step 3₂＝[φ₂₁，φ₂₂]Obtain the channel phase differenceTo pairPerforming normalization process ifSince the target azimuth angle is known in step 3, the unit spacing of the two receiving antennas is calculated

6. The FMCW-based security radar angle measurement correction method of claim 5, wherein: according to the phase information phi in step 3₃＝[φ₃₁，φ₃₂]In step 3, the Doppler simulator deviates from the normal direction theta of the radar₃At- α °, according to the radar angle-measuring formulaWhereinThe wave number is represented, λ represents the radar operating wavelength, and theoretically, d is λ without considering the receiving channel spacing error, but actuallyIn the process, the deviation of the distance between the radar receiving channels needs to be corrected, firstly, according to the phase information phi in the step 3₃＝[φ₃₁，φ₃₂]Obtain the channel phase differenceTo pairPerforming normalization process ifSince the target azimuth angle is known in step 3, the unit spacing of the two receiving antennas is calculated

7. The FMCW-based security radar angle measurement correction method of claim 6, wherein: according to the unit receiving antenna unit spacing d calculated in the step 3₂、d₃Calculating a cell pitch deviation factor Δ d_{Repair the}Considering the symmetry of the two correction sources and the requirement of angle measurement precision,calculation formula for confirming target angle

Technical Field

The invention relates to the technical field of radars, in particular to a security radar angle measurement correction method based on FMCW.

Background

With the development and progress of radar technology, millimeter wave radars are widely used in the field of automobiles in recent years, and can quickly and accurately acquire physical environment information around an automobile body, such as relative distance, relative speed, angle, movement direction and the like between an automobile and other surrounding objects, by emitting millimeter waves outwards, receiving target reflection signals and processing the signals.

With the continuous development of electronic technology, radar technology is widely applied to the civil field, wherein the safety protection radar product based on short-range FMCW also has a completely exposed head angle under different application scenes, the radar belongs to system engineering, and the safety protection radar based on short-range FMCW needs angle measurement calibration in practical application in consideration of engineering errors. At present, a common angle measurement calibration method is to calibrate by using a corner reflector in a microwave darkroom, but the construction, use and maintenance costs of the microwave darkroom are higher, and in addition, a method for calibrating by using the corner reflector directly in an external field is also provided.

Disclosure of Invention

The invention aims to overcome the technical problem of the prior art, and provides a security radar angle measurement correction method based on FMCW (frequency modulated continuous wave), so as to solve the problem that the radar cannot efficiently detect a target of an angle reflector due to the influence of ground clutter on the radar in the common angle measurement correction method in the technical background, which is to use the angle reflector for calibration in a microwave darkroom but has higher construction, use and maintenance costs of the microwave darkroom, and the method of directly using the angle reflector for calibration in an external field.

In order to achieve the purpose, the invention provides the following technical scheme: an FMCW-based security radar angle measurement correction method comprises the following steps:

step 1: installing short-range FMCW security radar at a distance of 10m and theta from the normal direction of the radar₁A Doppler simulator is placed at the position of 0 as a calibration target, and target echo data are collected through the short-range FMCW security radar;

step 2: receiving the target echo signal in the step 1, and performing FFT processing on the target echo signal to obtain phase information phi₁；

And step 3: then the Doppler simulator is used as a calibration target and is respectively placed at a position 10m away from the normal direction of the radar and related to theta₁Acquiring target echo data through the short-range FMCW security radar at two symmetrical positions of 0, processing the target echo signal and obtaining phase information phi₂And phi₃；

And 4, step 4: by phase information phi₁、φ₂And phi₃Obtaining a phase deviation factorAnd a cell pitch deviation factor Δ d_{Repair the}。

Preferably, in step 2, the signal processor performs two-dimensional FFT on the target echoes received by the receiving antenna to obtain phase information of each target echo, where the phase information is phi₁＝[φ₁₁，φ₁₂]。

Preferably, in the step 3, the deviation from the normal direction of the radar is theta₂α ° and θ₃Doppler simulators are respectively placed at the position of 10m away from the short-range FMCW security radar to serve as calibration targets, target echo data are collected through the FMCW security radar, two-dimensional FFT processing is respectively carried out on the target echoes received by the receiving antenna through a signal processor, and theta is obtained₂α ° and θ₃Two phase information of each path obtained in two states of alpha DEG, the phase information is phi₂＝[φ₂₁，φ₂₂]And phi₃＝[φ₃₁，φ₃₂]。

Preferably, in the step 4, the formula of angle measurement is based on radarWhereinTable of d ═ lambdaShowing the distance between the two receiving antennas,Representing wave number, lambda representing radar operating wavelength, and phase information phi in step 2₁＝[φ₁₁，φ₁₂]Obtaining a phase deviation factor

Preferably, based on the phase information φ in step 3₂＝[φ₂₁，φ₂₂]In step 3, the Doppler simulator deviates from the normal direction theta of the radar₂At α °, according to the formula for radar angle measurementWherein The wave number and lambda are expressed by the radar operating wavelength, and theoretically d is equal to lambda without considering the receiving channel spacing error, but in actual engineering, the radar receiving channel spacing has deviation and needs to be corrected according to the phase information phi in the step 3₂＝[φ₂₁，φ₂₂]Obtain the channel phase differenceTo pairPerforming normalization process if Since the target azimuth angle is known in step 3, the unit spacing of the two receiving antennas is calculated

Preferably, based on the phase information φ in step 3₃＝[φ₃₁，φ₃₂]In step 3, the Doppler simulator deviates from the normal direction theta of the radar₃At- α °, according to the radar angle-measuring formulaWherein The wave number and lambda are expressed by the radar operating wavelength, and theoretically d is equal to lambda without considering the receiving channel spacing error, but in actual engineering, the radar receiving channel spacing has deviation and needs to be corrected according to the phase information phi in the step 3₃＝[φ₃₁，φ₃₂]Obtain the channel phase differenceTo pairPerforming normalization process if Since the target azimuth angle is known in step 3, the unit spacing of the two receiving antennas is calculated

Preferably, the unit receiving antenna unit spacing d calculated according to the step 3₂、d₃Calculating a cell pitch deviation factor Δ d_{Repair the}Considering the symmetry of the two correction sources and the requirement of angle measurement precision,calculation formula for confirming target angle

Compared with the prior art, the invention provides a security radar angle measurement correction method based on FMCW, which has the following beneficial effects:

the method can effectively calibrate the angle of the security radar based on the short-range FMCW to ensure the radar angle measurement precision, is efficient and easy to implement, can simulate targets at different positions and speeds to calibrate the radar angle measurement, has no rigid requirement on a calibration field, and can improve the calibration efficiency.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:

FIG. 1 is a schematic structural diagram of a radar system based on an FMCW security radar angle measurement correction method provided by the invention.

Fig. 2 is a schematic diagram of an antenna structure according to the present invention.

FIG. 3 is a schematic diagram of the angle measurement calibration method of the present invention.

Detailed Description

In order to make the technical means, the original characteristics, the achieved purposes and the effects of the invention easily understood, the invention is further described below with reference to the specific embodiments and the attached drawings, but the following embodiments are only the preferred embodiments of the invention, and not all embodiments are provided. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative efforts belong to the protection scope of the present invention.

As shown in fig. 1, a short-range FMCW-based security radar includes a transmitting subsystem, a receiving subsystem, a signal processing subsystem, a data processing subsystem, a display and control terminal subsystem, and a power subsystem;

as shown in fig. 2, a security radar antenna based on short-range FMCW includes one transmitting antenna and two receiving antennas;

as shown in fig. 3, a FMCW based short-range security radar angle measurement calibration method is characterized by comprising the following steps:

step 1: installing short-range FMCW security radar at a distance of 10m and theta from the normal direction of the radar₁A Doppler simulator is placed at the position of 0 as a calibration target, and target echo data are collected through a short-range FMCW security radar;

step 2: receiving the target echo signal in the step 1, and performing FFT processing on the target echo signal to obtain phase information phi₁(ii) a Respectively carrying out two-dimensional FFT processing on target echoes received by a receiving antenna through a signal processor to obtain phase information of each target echo, wherein the phase information is phi₁＝[φ₁₁，φ₁₂]。

And step 3: then the Doppler simulator is used as a calibration target and is respectively placed at a position 10m away from the normal direction of the radar and related to theta₁Acquiring target echo data through a short-range FMCW security radar at two symmetrical positions, processing the target echo signal and obtaining phase information phi₂And phi₃(ii) a In directions theta away from the radar normal₂α ° and θ₃Doppler simulators are respectively placed at 10m positions of a short-range FMCW security radar as calibration targets, target echo data are collected through the FMCW security radar, and a signal processor is used for receiving a receiving antennaRespectively carrying out two-dimensional FFT processing on the received target echoes to obtain theta₂α ° and θ₃Two phase information of each path obtained in two states of alpha DEG, the phase information is phi₂＝[φ₂₁，φ₂₂]And phi₃＝[φ₃₁，φ₃₂](ii) a According to the phase information phi in step 3₂＝[φ₂₁，φ₂₂]In step 3, the Doppler simulator deviates from the normal direction theta of the radar₂At α °, according to the formula for radar angle measurementWherein The wave number and lambda are expressed by the radar operating wavelength, and theoretically d is equal to lambda without considering the receiving channel spacing error, but in actual engineering, the radar receiving channel spacing has deviation and needs to be corrected according to the phase information phi in the step 3₂＝[φ₂₁，φ₂₂]Obtain the channel phase differenceTo pairPerforming normalization process if Since the target azimuth is known in step 3, two are calculatedUnit spacing of receiving antennaAccording to the phase information phi in step 3₃＝[φ₃₁，φ₃₂]In step 3, the Doppler simulator deviates from the normal direction theta of the radar₃At- α °, according to the radar angle-measuring formulaWherein The wave number and lambda are expressed by the radar operating wavelength, and theoretically d is equal to lambda without considering the receiving channel spacing error, but in actual engineering, the radar receiving channel spacing has deviation and needs to be corrected according to the phase information phi in the step 3₃＝[φ₃₁，φ₃₂]Obtain the channel phase differenceTo pairPerforming normalization process if Since the target azimuth angle is known in step 3, the unit spacing of the two receiving antennas is calculatedAccording to the unit receiving antenna unit spacing d calculated in the step 3₂、d₃Calculating a cell pitch deviation factor Δ d_{Repair the}Considering the symmetry of the two correction sources and the requirement of angle measurement precision,calculation formula for confirming target angle

And 4, step 4: by phase information phi₁、φ₂And phi₃Obtaining a phase deviation factorAnd a cell pitch deviation factor Δ d_{Repair the}(ii) a According to radar angle-measuring formulaWhereind-lambda represents the distance between two receiving antennas,Representing wave number, lambda representing radar operating wavelength, and phase information phi in step 2₁＝[φ₁₁，φ₁₂]Obtaining a phase deviation factorThe radar angle measurement is calibrated by simulating targets with different positions and speeds, and the calibration method has no hard requirement on a calibration field and can improve the calibration efficiency.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.