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CN-121978638-A - Millimeter wave radar phase shifter calibration method based on reference lattice

CN121978638ACN 121978638 ACN121978638 ACN 121978638ACN-121978638-A

Abstract

The invention discloses a millimeter wave radar phase shifter calibration method based on a reference lattice, and belongs to the field of millimeter wave radars. The method comprises the steps of obtaining a pre-built reference phase lattice, enabling a millimeter wave radar to be calibrated to take the reference phase lattice as a rotation initial phase of a phase shifter to transmit millimeter wave signals to an angle reflector, obtaining echo data of the angle reflector at each reference phase point of each theoretical phase to obtain an angle anti-distance dimension complex value set at each theoretical phase, determining an angle anti-actual zero phase point and a corresponding theoretical phase based on the angle anti-distance dimension complex value set at all theoretical phases, pushing the corresponding relation between the angle anti-actual phase and the theoretical phase according to the angle anti-actual zero phase, determining coordinate values of 360 angle anti-theoretical phases on a complex plane, and accurately calibrating actual phase calibration values corresponding to each theoretical phase by combining the angle anti-distance dimension complex value set corresponding to the angle anti-actual phase. The scheme can solve the calibration problem of the self error of the antenna, and does not need to increase hardware equipment.

Inventors

  • LIANG YANJUN
  • Qiao long
  • QIN JIANJUN

Assignees

  • 斯凯瑞利（北京）科技有限公司

Dates

Publication Date
20260505
Application Date
20251217

Claims (10)

  1. 1. The millimeter wave radar phase shifter calibration method based on the reference lattice is characterized by comprising the following steps of: acquiring a pre-constructed reference phase lattice, and enabling a millimeter wave radar to be calibrated to take the reference phase lattice as a rotation initial phase of a phase shifter to transmit millimeter wave signals to an angle reflector, wherein the reference phase lattice comprises a reference phase set of each degree of theoretical phase of 0-360 degrees, and the reference phase set of each degree of theoretical phase comprises a plurality of reference phase points; acquiring echo data of the angular reflector at each reference phase point of each theoretical phase to obtain an angular inverse distance dimension complex value set at each theoretical phase; Based on the angle anti-distance dimension complex value set under all the theoretical phases, determining an angle anti-actual zero phase point and a theoretical phase corresponding to the angle anti-actual zero phase point, so as to forward the corresponding relation between the angle anti-actual phase and the theoretical phase; And determining coordinate values of 360 angular anti-theoretical phases on a complex plane, and accurately calibrating actual phase calibration values corresponding to each theoretical phase by combining an angular anti-distance dimension complex value set corresponding to the angular anti-actual phases.
  2. 2. The method of claim 1, wherein the reference phase lattice is constructed by: Generating a rectangular phase lattice of the millimeter wave radar to be calibrated, and constructing a circular ring area in the rectangular phase lattice as a reference area; Performing angle expansion based on each degree of theoretical phase so as to intercept a sector sampling area corresponding to each degree of theoretical phase from the reference area; and determining the minimum number of phase points in the fan-shaped sampling areas of each theoretical phase, discarding redundant values of fan-shaped sampling areas with the number of phase points being greater than the minimum number of phase points to obtain a reference phase set of each degree of theoretical phase, and forming a reference phase lattice.
  3. 3. The method of claim 1, wherein determining the angular anti-actual zero-phase point and the theoretical phase corresponding to the angular anti-actual zero-phase point based on the set of angular anti-distance dimension complex values at all theoretical phases to forward the correspondence of the angular anti-actual phase and the theoretical phase comprises: For each theoretical phase, perform: Expanding the angular inverse distance dimension complex value set of the current theoretical phase by 9 theoretical phases to obtain an angular inverse distance dimension complex value set consisting of 19 theoretical phases, and obtaining the angular inverse distance dimension complex value expansion of the current theoretical phase; carrying out phase solving operation on the angular inverse distance dimension complex value expansion of the current theoretical phase to obtain angular inverse distance dimension phase expansion; Averaging the angular inverse distance dimension phase expansion to obtain an angular inverse distance dimension phase average value of the current theoretical phase; and comparing the angular inverse distance dimension phase average values of all the theoretical phases, and determining the theoretical phase corresponding to the minimum phase average value as an angular inverse actual zero phase point so as to forward the corresponding relation between the angular inverse actual phase and the theoretical phase.
  4. 4. The method of claim 3, wherein determining the coordinate values of the 360 angular anti-theory phases on the complex plane comprises: the absolute value average is obtained by expanding the complex value of the angular inverse distance dimension of all theoretical phases, so as to obtain an average amplitude value; Generating 360 equidistant radians to generate a complex array of 360 complex values based on the 360 equidistant radians; Multiplying the complex number array with the average amplitude value to obtain coordinate values of 360 angular anti-theory phases on a complex plane.
  5. 5. The method of claim 4, wherein 360 complex values are calculated by: wherein i is an imaginary unit in the complex number, And (5) the radian value corresponding to each angle.
  6. 6. A method according to claim 3, wherein said combining the set of angular anti-distance dimensional complex values corresponding to angular anti-actual phases to accurately calibrate the actual phase calibration values corresponding to each theoretical phase comprises: For each angular anti-theoretical phase, perform: calculating Euclidean distance of each complex data point in the angular inverse distance dimension complex value expansion corresponding to the coordinate value of the current angular inverse theoretical phase on the complex plane and the current angular inverse actual phase; And taking the complex data point with the minimum distance as an actual phase calibration value of the phase shifter with the inverse angle so as to accurately calibrate the actual phase calibration value corresponding to each theoretical phase.
  7. 7. A millimeter wave radar phase shifter calibration device based on a reference lattice, for implementing the steps of the method of any one of claims 1-6, comprising: The device comprises an acquisition unit, a calibration unit and a calibration unit, wherein the acquisition unit is used for acquiring a pre-constructed reference phase lattice, so that a millimeter wave radar to be calibrated can transmit millimeter wave signals to an angle reflector by taking the reference phase lattice as a rotation initial phase of a phase shifter, wherein the reference phase lattice comprises a reference phase set of each degree of theoretical phase of 0-360 degrees, and the reference phase set of each degree of theoretical phase comprises a plurality of reference phase points; The acquisition unit is used for acquiring echo data of the angle reflector at each reference phase point of each theoretical phase so as to obtain an angle inverse distance dimension complex value set at each theoretical phase; the determining unit is used for determining an angle anti-actual zero phase point and a theoretical phase corresponding to the angle anti-actual zero phase point based on the angle anti-distance dimension complex value set under all the theoretical phases so as to forward the corresponding relation between the angle anti-actual phase and the theoretical phase; and the calibration unit is used for determining coordinate values of 360 angular anti-theoretical phases on a complex plane so as to precisely calibrate the actual phase calibration value corresponding to each theoretical phase by combining the angular anti-distance dimension complex value set corresponding to the angular anti-actual phase.
  8. 8. A computer device, characterized in that it comprises a memory for storing a computer program and a processor for executing the computer program stored on the memory for carrying out the steps of the method according to any of the preceding claims 1-6.
  9. 9. A computer-readable storage medium, characterized in that the storage medium has stored therein a computer program which, when executed by a processor, implements the steps of the method of any of claims 1-6.
  10. 10. A computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of any of claims 1-6.

Description

Millimeter wave radar phase shifter calibration method based on reference lattice Technical Field The invention relates to the technical field of millimeter wave radars, in particular to a calibration method of a millimeter wave radar phase shifter based on a reference lattice. Background Millimeter wave radars are widely used in the fields of automatic driving, intelligent sensing, fifth generation mobile communication (5G) and the like due to high resolution, large bandwidth and strong anti-interference capability. The phased array technology is used as the core of the millimeter wave radar, the directional scanning of the wave beam is realized by controlling the phase difference of each phase shifter in the antenna array, and the performance of the phased array technology directly determines the angle measurement precision, resolution and acting distance of the radar. The phase shifter is used as a key device for realizing beam steering, the performance accuracy of the phase shifter is obviously affected by factors such as manufacturing process deviation, mismatch of an integrated circuit, working temperature change, device aging and the like, and the actual beam steering is deviated from a theoretical set value, so that the system performance is seriously reduced. Therefore, the high-precision calibration of the phase shifter is an indispensable link for ensuring the performance of the millimeter wave radar system. However, the prior art either only calibrates the frequency characteristics or relies on increasing hardware complexity to calibrate channel consistency, which is a core problem of not achieving high accuracy calibration of the inherent defective antenna's own errors. Therefore, it is desirable to provide a calibration method of millimeter wave radar phase shifter based on a reference lattice for the self-error of an antenna. Disclosure of Invention In order to solve the problem that the existing phase shifter calibration method cannot realize high-precision calibration of the self error of an antenna, the embodiment of the invention provides a millimeter wave radar phase shifter calibration method based on a reference lattice. In one aspect, a millimeter wave radar phase shifter calibration method based on a reference lattice is provided, the method comprising: acquiring a pre-constructed reference phase lattice, and enabling a millimeter wave radar to be calibrated to take the reference phase lattice as a rotation initial phase of a phase shifter to transmit millimeter wave signals to an angle reflector, wherein the reference phase lattice comprises a reference phase set of each degree of theoretical phase of 0-360 degrees, and the reference phase set of each degree of theoretical phase comprises a plurality of reference phase points; acquiring echo data of the angular reflector at each reference phase point of each theoretical phase to obtain an angular inverse distance dimension complex value set at each theoretical phase; Based on the angle anti-distance dimension complex value set under all the theoretical phases, determining an angle anti-actual zero phase point and a theoretical phase corresponding to the angle anti-actual zero phase point, so as to forward the corresponding relation between the angle anti-actual phase and the theoretical phase; And determining coordinate values of 360 angular anti-theoretical phases on a complex plane, and accurately calibrating actual phase calibration values corresponding to each theoretical phase by combining an angular anti-distance dimension complex value set corresponding to the angular anti-actual phases. In another aspect, there is provided a millimeter wave radar phase shifter calibration device based on a reference lattice according to any one of the method embodiments of the specification, the device including: The device comprises an acquisition unit, a calibration unit and a calibration unit, wherein the acquisition unit is used for acquiring a pre-constructed reference phase lattice, so that a millimeter wave radar to be calibrated can transmit millimeter wave signals to an angle reflector by taking the reference phase lattice as a rotation initial phase of a phase shifter, wherein the reference phase lattice comprises a reference phase set of each degree of theoretical phase of 0-360 degrees, and the reference phase set of each degree of theoretical phase comprises a plurality of reference phase points; The acquisition unit is used for acquiring echo data of the angle reflector at each reference phase point of each theoretical phase so as to obtain an angle inverse distance dimension complex value set at each theoretical phase; the determining unit is used for determining an angle anti-actual zero phase point and a theoretical phase corresponding to the angle anti-actual zero phase point based on the angle anti-distance dimension complex value set under all the theoretical phases so as to forward the corresponding relation between the