阅读说明：本技术 雷达参数综合测量系统及测量方法 (Radar parameter comprehensive measurement system and measurement method ) 是由 颜卫忠 陈栋志 孔凡伟 钱婧怡 白旭东 于 2020-12-10 设计创作，主要内容包括：本发明实施例提供了一种雷达参数综合测量系统的测量方法,其特征在于,包括步骤：步骤1：搭建雷达参数综合测量系统；步骤2：雷达天线指向校准；步骤3：根据不同参数测量需求驱动滑台使滑台支架(2)运动,并记录滑台支架(2)运动速度、运动时间、相对滑台(3)起点的位置等信息,同时记录雷达测量目标参数的结果；步骤4：比较步骤3中的滑台支架(2)信息以及雷达测量结果,即可计算目标参数测量精度。本发明提出的雷达参数综合测量系统能够提高雷达参数测量的准确性和便利性,减小雷达参数测量的误差。(The embodiment of the invention provides a measuring method of a radar parameter comprehensive measuring system, which is characterized by comprising the following steps: step 1: building a radar parameter comprehensive measurement system; step 2: calibrating the orientation of the radar antenna; and step 3: driving the sliding table to enable the sliding table support (2) to move according to different parameter measurement requirements, recording information such as the moving speed, the moving time and the position relative to the starting point of the sliding table (3) of the sliding table support (2), and simultaneously recording the result of radar measurement target parameters; and 4, step 4: and (4) comparing the information of the sliding table support (2) in the step (3) with the radar measurement result, and calculating the measurement precision of the target parameter. The radar parameter comprehensive measurement system provided by the invention can improve the accuracy and convenience of radar parameter measurement and reduce the error of radar parameter measurement.)

1. A radar parameter integrated measurement system, comprising:

the upper surface of the sliding table (3) is provided with a guide rail;

the sliding table support (2) moves along the guide rail; a reflector (1) is arranged on the sliding table bracket (2);

a radar (7) and a radar mount (8); and a calibration body (5).

2. The radar parameter integrated measuring system according to claim 1, characterized in that the slide (3) is further provided with a slide bottom pulley (6) for easy movement of the slide (3) position.

3. The radar parameter comprehensive measuring system according to claim 1, wherein the sliding table (3) is provided with a control line (4) connected with an upper computer for controlling the movement of the sliding table support (2).

4. A measuring method of the radar parameter comprehensive measuring system according to any one of claims 1 to 3, characterized by comprising the steps of:

step 1: building a radar parameter comprehensive measurement system;

step 2: calibrating the orientation of the radar antenna;

and step 3: driving the sliding table to enable the sliding table support (2) to move according to different parameter measurement requirements, recording information such as the moving speed, the moving time and the position relative to the starting point of the sliding table (3) of the sliding table support (2), and simultaneously recording the result of radar measurement target parameters;

and 4, step 4: and (4) comparing the information of the sliding table support (2) in the step (3) with the radar measurement result, and calculating the measurement precision of the target parameter.

5. The measuring method of the radar parameter comprehensive measuring system according to claim 4, wherein in the step 1, coordinate information of the radar (7), the radar support (8), the calibration body (5), the sliding table (3), the sliding table support (2) and the reflector (1) is recorded.

6. The measuring method of the radar parameter comprehensive measuring system according to claim 5, wherein in the step 2, a first line, namely a central axis, and a second line, namely a mark line, are selected in space, a calibration body (5) is placed on the first line, and a slide table (3) is placed on the second line.

7. The measuring method of the radar parameter comprehensive measuring system according to claim 6, wherein the angle of the calibration body (5) on the central axis of the comprehensive measuring system is measuredIf the angle of the calibration body (5) is less than the threshold value delta, that isNo correction is needed; otherwise, whenThe radar antenna needs to rotate clockwise, otherwise, the radar antenna rotates anticlockwise; after the antenna is fixed, the angle of the calibration body (5) is measured againThe direction of the antenna is repeatedly adjusted until the angle is theta_i|<δ, then the calibration is completed and the antenna main axis direction is recorded as

8. The measuring method of the radar parameter synthesis measuring system according to claim 7, wherein the angle error threshold δ is set according to the accuracy of angle measurement.

9. The measuring method of the radar parameter comprehensive measuring system according to claim 8, wherein in the step 2, when the angle of the target relative to the radar (7) needs to be changed, only the direction of the radar antenna needs to be changed, and the sliding table (3) can keep the current position unchanged; the angle of the initial target relative to the radar (7) is assumed to be theta_HNow, it is desired to change the target angle to θ'_HIf the antenna needs to rotate by an angle σ ═ θ_H-θ’_H) And σ>0, the antenna rotates clockwise by σ, and vice versa.

10. The method of claim 8, wherein the radar antenna orientation is recalibrated when the test environment or test conditions change.

Technical Field

The invention belongs to the field of radar target measurement, and relates to a comprehensive measurement radar system for target distance, speed and angle.

Background

Radars of different systems measure different parameters of a target, such as a pulse radar for measuring distance, a doppler radar for measuring speed, and the like. When measuring target parameters, an accurate coordinate system needs to be established, and the coincidence of the radar antenna main shaft and a target measurement coordinate system is ensured. After the radar and the target are erected, parameters such as the real distance and the angle of the target relative to the radar are determined firstly, so that the measurement error of the radar can be verified subsequently. For stationary targets, the parameter measurement is relatively simple. For a moving target, constant-speed movement is generally difficult to maintain, speed measurement accuracy verification is difficult, if angle measurement is carried out simultaneously, target track is difficult to effectively control, and angle measurement accuracy verification also has difficulty. In addition, with the increase of the measurement times and the change of the target state, the target real parameters need to be calibrated continuously, and the measurement becomes extremely complicated. However, few experimental methods for measuring radar parameters are introduced in the literature at present, and particularly, the measurement of the speed and the angle of a moving target is performed, so that a radar parameter comprehensive measurement system needs to be provided to adapt to the measurement of various radar parameters.

The invention provides a radar parameter comprehensive measurement system, which is suitable for measuring various radar parameters, and can effectively ensure the accuracy of the real parameters of a target so as to reduce the error of target parameter measurement.

Disclosure of Invention

The invention aims to provide a radar parameter comprehensive measurement system, which is characterized by comprising the following components:

the upper surface of the sliding table 3 is provided with a guide rail;

the sliding table bracket 2 moves along the guide rail; a reflector 1 is arranged on the sliding table bracket 2;

a radar 7 and a radar mount 8; and a calibration body 5;

preferably, the sliding table 3 is further provided with a sliding table bottom pulley 6 for conveniently moving the position of the sliding table 3.

Preferably, the sliding table 3 is provided with a control line 4, connected with the upper computer and used for controlling the movement of the sliding table bracket 2.

The invention also provides a measuring method of the radar parameter comprehensive measuring system, which is characterized by comprising the following steps:

step 1: building a radar parameter comprehensive measurement system;

step 2: calibrating the orientation of the radar antenna;

and step 3: driving the sliding table to enable the sliding table support 2 to move according to different parameter measurement requirements, recording information such as the moving speed, the moving time and the position relative to the starting point of the sliding table 3 of the sliding table support 2, and simultaneously recording the result of radar measurement target parameters;

and 4, step 4: and (4) comparing the information of the sliding table support 2 in the step (3) with the radar measurement result, and calculating the target parameter measurement precision.

Preferably, in the step 1, coordinate information of the radar 7, the radar support 8, the calibration body 5, the sliding table 3, the sliding table support 2 and the reflector 1 is recorded.

Preferably, in the step 2, a first line, i.e., a central axis, and a second line, i.e., a mark line, are selected in space, the calibration body 5 is placed on the first line, and the sliding table 3 is placed on the second line.

Preferably, the angle of the calibration body 5 on the central axis of the integrated measurement system is measuredIf the angle of the calibration body 5 is smaller than the threshold delta, that isNo correction is necessary. Otherwise, whenThe radar antenna needs to be rotated clockwise, and conversely, the radar antenna needs to be rotated counterclockwise. After the antenna is fixed, the angle of the calibration body 5 is measured againThe direction of the antenna is repeatedly adjusted until the angle is theta_i|<δ, then the calibration is completed and the antenna main axis direction is recorded as

Preferably, the angle error threshold δ needs to be set according to the angle measurement accuracy.

Preferably, in step 2, when the angle of the target relative to the radar needs to be changed, only the direction of the radar antenna needs to be changed, and the sliding table can keep the current position unchanged. Assume that the initial target is at an angle θ with respect to the radar_HNow, it is desired to change the target angle to θ'_HIf the antenna needs to rotate by an angle σ ═ θ_H-θ’_H) And σ>0, the antenna rotates clockwise by σ, and vice versa.

Preferably, the radar antenna orientation is recalibrated when the test environment or test conditions change.

Preferably, in step 3, the measured target angle needs to be subtracted by the antenna main axis direction angle θ_T。

Preferably, in step 3, when the target angle or distance is measured, the slide table 3 is driven to move the slide table support 2 to a specific distance, and the position of the slide table support 2 is recorded.

Preferably, in step 3, when the speed of the moving target is measured, the moving speed and the moving stroke of the sliding table 3 are controlled and recorded.

The beneficial effects of the invention include:

(1) support radar multi-parameter integrated measurement

The measurement system supports target distance, velocity, angle measurements. If a plurality of supports or a plurality of groups of sliding tables are adopted, multi-target and multi-parameter measurement can be supported.

(2) Calibration system for radar parameter measurement

The speed of the sliding table is controllable, so that the method can be used for verifying the speed measurement precision of the radar. The step stroke of the sliding table is extremely small, and the method can be used for radar high-precision distance measurement verification. In addition, the sliding table moves linearly, and consistency of target angles is guaranteed.

(3) Repeatable and highly convenient

Once the measuring system is installed and fixed, a large number of experimental measurements can be realized, and the experiment can be repeated. When the target angle needs to be changed, only the antenna pointing direction needs to be adjusted.

Drawings

FIG. 1 is a schematic diagram of a radar parameter integrated measurement system.

Fig. 2 is a schematic diagram of radar antenna pointing correction.

FIG. 3 is a schematic of distance and angle measurements.

Fig. 4 is a schematic diagram of velocity measurement.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.

When the prior document describes radar parameter measurement, the distance between a reflector and a radar is generally determined by a laser range finder or a measuring tape, and the measurement needs to be carried out again each time the target position changes. When the target speed is measured, generally, a moving object is difficult to keep moving at a constant speed, and the speed measurement precision verification has difficulty. The radar parameter comprehensive measurement system provided by the invention can improve the accuracy and convenience of radar parameter measurement and reduce the error of radar parameter measurement.

The invention mainly aims at the problems of complicated target parameter measurement process and large measurement error, and provides a radar parameter comprehensive measurement system which comprises the following components: a radar parameter integrated measurement system, comprising:

the upper surface of the sliding table (3) is provided with a guide rail;

the sliding table support (2) moves along the guide rail; a reflector (1) is arranged on the sliding table bracket (2);

a radar (7) and a radar mount (8); and a calibration body (5).

According to one embodiment of the invention, the slipway (3) is also provided with a slipway bottom pulley (6) for convenient movement of the slipway (3) position.

According to one embodiment of the invention, the sliding table (3) is provided with a control line (4) which is connected with an upper computer and used for controlling the movement of the sliding table bracket (2).

The invention also provides a measuring method of the radar parameter comprehensive measuring system, which is characterized by comprising the following steps:

step 1: building a radar parameter comprehensive measurement system;

step 2: calibrating the orientation of the radar antenna;

and step 3: driving the sliding table to enable the sliding table support (2) to move according to different parameter measurement requirements, recording information such as the moving speed, the moving time and the position relative to the starting point of the sliding table (3) of the sliding table support (2), and simultaneously recording the result of radar measurement target parameters;

and 4, step 4: and (4) comparing the information of the sliding table support (2) in the step (3) with the radar measurement result, and calculating the measurement precision of the target parameter.

According to one embodiment of the invention, in the step 1, coordinate information of the radar (7), the radar support (8), the calibration body (5), the sliding table (3), the sliding table support (2) and the reflector (1) is recorded.

According to one embodiment of the invention, in the step 2, a first line, namely a central axis, and a second line, namely a marking line, are selected in space, a calibration body (5) is placed on the first line, and a sliding table (3) is placed on the second line.

According to one embodiment of the invention, the angle of the calibration body (5) on the central axis of the integrated measuring system is measuredIf the angle of the calibration body (5) is less than the threshold value delta, that isNo correction is necessary. Otherwise, whenThe radar antenna needs to be rotated clockwise, and conversely, the radar antenna needs to be rotated counterclockwise. After the antenna is fixed, the angle of the calibration body (5) is measured againThe direction of the antenna is repeatedly adjusted until the angle is theta_i|<δ, then the calibration is completed and the antenna main axis direction is recorded as

According to an embodiment of the present invention, the angle error threshold δ is set according to the angle measurement accuracy.

According to an embodiment of the invention, in step 2, when the angle of the target relative to the radar needs to be changed, only the direction of the radar antenna needs to be changed, and the sliding table can keep the current position unchanged. Assume an initial target is at an angle θ relative to radar_HNow, it is desired to change the target angle to θ'_HIf the antenna needs to rotate by an angle σ ═ θ_H-θ’_H) And σ>0, the antenna rotates clockwise by σ, and vice versa.

According to one embodiment of the invention, the radar antenna orientation needs to be recalibrated when the test environment or test conditions change.

Example 1: target distance and angle measurements.

The present embodiment is specifically described with reference to fig. 1 to 3:

step 1, completing the construction of a radar parameter comprehensive measurement system according to the figure 1. And (3) determining a central axis (a first line selected in space) and a marking line (a second line selected in space) of any angle of the comprehensive measurement system by taking the radar 7 as a center, and placing the sliding table 3 on the marking line in the radar beam range to enable the sliding table and the marking line to be superposed. The reflector 1 is fixed on the sliding table bracket 2, and the calibration body 5 is placed on the central axis. And recording polar coordinate information (r, theta) of the radar 7, the radar support 8, the calibration body 5, the sliding table 3, the sliding table support 2, the reflector 1 and the like. Wherein, the radar has 7 coordinates (0, 0) and the sliding table has 3 coordinates (r)_H，θ_H) 1 coordinate (r) of reflector_H+r₀，θ_H) 5 coordinate (r) of the calibration body_D，0)。

And 2, calibrating the direction of the radar antenna according to the diagram shown in FIG. 2. In the central axis of the integrated measuring systemFirst line), continuously adjusting the antenna pointing direction and measuring the angle of the calibration body 5 to make the angle of the calibration body 5 less than the threshold value delta, and marking the angle of the calibration body 5 as theta_T。

Step 3, as shown in fig. 3, driving the sliding table to move the sliding table support 2 to different positions, and recording the position (r) of the sliding table support 2 relative to the starting point of the sliding table₀,r₁… …) and simultaneously recording the result (R) of the radar measuring the distance and angle of the target₀,R₁,……)、(Θ₀,Θ₁… …). Target angle subtracted by angle theta_T。

And 4, comparing the information of the sliding table support 2 in the step 3 with the radar measurement result, and calculating the measurement precision of the target parameter. Wherein the distance measurement accuracy Δ R ═ R_i-(r_H+r₀) Angle measuring accuracy Δ θ ═ Θ_i-θ_HI is 1,2, … …, n. n is the number of measurements.

Example 2: and measuring the target speed.

The present embodiment will be described in detail with reference to fig. 1,2, and 4:

step 1, completing the construction of a radar parameter comprehensive measurement system according to the figure 1. And determining a central axis and a marking line at any angle of the comprehensive measurement system by taking the radar as a center, and placing the sliding table 3 on the marking line in the radar beam range to ensure that the sliding table and the marking line are superposed. The reflector 1 is fixed on the sliding table bracket 2, and the calibration body 5 is placed on the central axis. And recording polar coordinate information (r, theta) of the radar 7, the radar support 8, the calibration body 5, the sliding table 3, the sliding table support 2, the reflector 1 and the like. Wherein, the radar has 7 coordinates (0, 0) and the sliding table has 3 coordinates (r)_H,θ_H) 1 coordinate (r) of reflector_H+r₀,θ_H) 5 coordinate (r) of the calibration body_D，0)。

And 2, calibrating the direction of the radar antenna according to the diagram shown in FIG. 2. Placing a calibration body 5 on the central axis of the comprehensive measurement system, continuously adjusting the pointing direction of the antenna and measuring the angle of the calibration body 5 to ensure that the angle of the calibration body 5 is less than a threshold value delta and the angle of the calibration body 5 is recorded as theta_T。

Step 3, as shown in FIG. 4, driving the sliding tableMaking the slipway carriage 2 at speed v₀From the starting point (r)₀) Continuously moving to the end point (r)₁) Simultaneously recording the results (R) of the distance, angle and speed of the radar measured target₀,R₁,……)、(Θ₀,Θ₁,……)、(V₀,V₁… …). Target angle Θ_iHas subtracted the angle theta_T。

And 4, comparing the information of the sliding table support 2 in the step 3 with the radar measurement result, and calculating the measurement precision of the target parameter. Wherein the distance measurement accuracy Δ R ═ R_i-(r_H+r₀) Angle measuring accuracy Δ θ ═ Θ_i-θ_HSpeed measurement accuracy Δ v ═ v₀-V_iI is 1,2, … …, n. n is the number of measurements.

It will be apparent to those skilled in the art that various changes and modifications may be made in the invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.