CN115166654B

CN115166654B - Multi-millimeter wave radar calibration method, device and storage medium

Info

Publication number: CN115166654B
Application number: CN202210728559.0A
Authority: CN
Inventors: 于仲海; 许丽星; 刘石勇
Original assignee: Hisense Group Holding Co Ltd
Current assignee: Hisense Group Holding Co Ltd
Priority date: 2022-06-24
Filing date: 2022-06-24
Publication date: 2024-10-01
Anticipated expiration: 2042-06-24
Also published as: CN115166654A

Abstract

The application provides a multi-millimeter wave radar calibration method, a device and a storage medium, which relate to the technical field of smart home, and are characterized in that speed track information of a plurality of candidate objects obtained by millimeter wave radars is judged, if the speed track information of the plurality of candidate objects is judged to belong to the speed track information of the same target object, coordinate information and speed values of the plurality of millimeter wave radars are determined, speed vectors of the plurality of millimeter wave radars are determined, and then coordinate transformation parameters of at least one auxiliary millimeter wave radar can be determined, so that the calibration of the multi-millimeter wave radars is completed. The multi-millimeter wave radar calibration process disclosed by the application can complete calibration without limiting the arrangement direction and arrangement height of the millimeter wave radar and without the assistance of any other equipment, and the whole calibration process is very simple and convenient.

Description

Multi-millimeter wave radar calibration method, device and storage medium

Technical Field

The application relates to the technical field of smart home control, in particular to a multi-millimeter-wave radar calibration method, a device and a storage medium.

Background

With the development of technology, smart home has been widely applied to people's life, and the use of millimeter wave radar to identify users in a home environment has become a more common way.

In the prior art, before a user is identified by using a plurality of millimeter wave radars indoors, the plurality of millimeter wave radars need to be calibrated. However, no simple multi-millimeter wave radar calibration method exists at present.

Disclosure of Invention

In order to solve the problems in the prior art, the embodiment of the application provides a multi-millimeter-wave radar calibration method, which can calibrate a plurality of millimeter-wave radars in different angles and directions and has simple calibration process.

In a first aspect, an embodiment of the present application provides a method for calibrating a multi-millimeter-wave radar, where the method includes:

Receiving coordinate information, speed value and time information of candidate objects respectively acquired by a plurality of millimeter wave radars pre-bound in the same millimeter wave radar group, and determining speed track information of the plurality of candidate objects;

if the speed track information of the plurality of candidate objects is determined to belong to the speed track information of the same target object, determining the speed vectors of the plurality of millimeter wave radars according to the coordinate information and the speed values of the plurality of millimeter wave radars;

According to the speed vectors and the coordinate information of the millimeter wave radars, one millimeter wave radar is arbitrarily selected from the millimeter wave radar group to serve as a calibration center millimeter wave radar, the position of the calibration center millimeter wave radar is taken as the origin of a target coordinate system, the coordinate transformation parameter of the at least one auxiliary millimeter wave radar is determined, and the object to be identified is identified based on the coordinate transformation parameter and the coordinate information of the object to be identified, which is reported by the millimeter wave radars in the millimeter wave radar group.

According to the multi-millimeter wave radar calibration method provided by the embodiment of the application, the speed track information of a plurality of candidate objects obtained by the millimeter wave radar is judged, and if the speed track information of the plurality of candidate objects is judged to belong to the speed track information of the same target object, the coordinate transformation parameters of at least one auxiliary millimeter wave radar are determined by determining the speed vectors of the plurality of millimeter wave radars and by determining the speed vectors and the coordinate information of the plurality of millimeter wave radars. In the calibration process of the millimeter wave radars, the acquired data comprise coordinate information, speed value and time information, the acquired coordinate information is two-dimensional coordinate information, the arrangement direction and arrangement height of the millimeter wave radars are not required to be limited, the millimeter wave radars can be directly arranged indoors for calibration, and the whole calibration process can be completed without the assistance of any other equipment or manual interference. In the use process, a plurality of millimeter wave radars are not required to keep the same measurement direction all the time.

In one possible implementation manner, the receiving coordinate information, speed value and time information of the candidate objects collected by the millimeter wave radars respectively and bound in the same millimeter wave radar group, and determining speed track information of the plurality of candidate objects includes:

obtaining coordinate track information of a plurality of candidate objects according to the coordinate information of the plurality of candidate objects;

And transforming the coordinate track of each candidate object according to the speed value and the time information corresponding to each coordinate information to obtain the speed track information of the plurality of candidate objects.

According to the method, the coordinate track information of the plurality of candidate objects is obtained according to the coordinate information of the plurality of candidate objects, and the speed track information of the plurality of candidate objects can be obtained through the speed value and the time information corresponding to each coordinate information. The method for obtaining the speed track information is simple and quick without any complex transformation.

In one possible implementation, it is determined whether the speed trajectory information of the plurality of candidate objects belongs to the speed trajectory information of the same target object by:

according to the speed track information of the plurality of candidate objects, respectively determining the similarity between the speed track information of each two candidate objects to obtain at least one similarity;

And if the at least one similarity meets a set threshold, determining that the plurality of candidate objects are the same target object.

In one possible implementation manner, the determining the velocity vectors of the millimeter wave radars according to the coordinate information and the velocity values of the millimeter wave radars includes:

And determining a speed vector corresponding to any one piece of coordinate information according to the any one piece of coordinate information, the speed value and the next piece of coordinate information of the any one piece of coordinate information aiming at any one piece of coordinate information of any one auxiliary millimeter wave radar.

In one possible implementation, the determining the coordinate transformation parameters of the at least one auxiliary millimeter wave radar includes:

for any one auxiliary millimeter wave radar, determining transformation coordinate information of the any one auxiliary millimeter wave radar under a target coordinate system according to the coordinate information acquired by the any one auxiliary millimeter wave radar, and

Determining a transformation speed vector of any one auxiliary millimeter wave radar under a target coordinate system according to a speed vector corresponding to the coordinate information acquired by the any one auxiliary millimeter wave radar; wherein the velocity vector is determined based on the acquired coordinate information and the velocity value;

constructing an objective function based on the transformed coordinate information, the transformed speed vector, the coordinate information uploaded by the calibration center millimeter wave radar and each speed vector corresponding to the calibration center millimeter wave radar; the partial derivative of the objective function is calculated, and the objective partial derivative is determined; the target speed vector is a speed vector corresponding to the calibrated center millimeter wave radar;

And determining the minimum value of the objective function based on the target partial derivative, and taking the minimum value of the objective function to obtain a transformation parameter to be solved as the coordinate transformation parameter of any auxiliary millimeter wave radar.

In one possible implementation manner, the coordinate transformation parameters to be solved include a first translation parameter to be solved, a second translation parameter to be solved and a rotation parameter to be solved;

the determining the transformed coordinate information of the arbitrary auxiliary millimeter wave radar under the target coordinate system according to the coordinate information acquired by the arbitrary auxiliary millimeter wave radar comprises the following steps:

Determining a translation matrix to be solved according to the first translation parameter to be solved and the second translation parameter to be solved, and determining a rotation matrix to be solved according to the rotation parameter to be solved;

And taking the sum of the product of the rotation matrix to be solved and the coordinate information and the translation matrix to be solved as transformed coordinate information of any auxiliary millimeter wave radar under a target coordinate system.

The determining the transformation speed vector of the arbitrary auxiliary millimeter wave radar under the target coordinate system according to the speed vector corresponding to the coordinate information acquired by the arbitrary auxiliary millimeter wave radar comprises the following steps:

And taking the sum of the product of the rotation matrix to be solved and the speed vector corresponding to each coordinate information and the translation matrix to be solved as each transformation speed vector of any auxiliary millimeter wave radar under a target coordinate system.

In one possible implementation manner, the constructing an objective function based on the each transformed coordinate information and the each transformed velocity vector, and each coordinate information uploaded by the calibration center millimeter wave radar and each velocity vector corresponding to the calibration center millimeter wave radar includes:

wherein, Representing said each transformed coordinate information; representing each coordinate information uploaded by the millimeter wave radar of the calibration center; representing said each transformed velocity vector; each speed vector corresponding to the calibrated center millimeter wave radar is represented; t is a constant; n represents the number of the transformed coordinate information or the coordinate information uploaded by the millimeter wave radar of the calibration center.

According to the method, when the objective function is established, the transformation coordinate information and each coordinate information uploaded by the calibration center millimeter wave radar can be subtracted, the transformation speed vector and the target speed vector can be subtracted, and the coordinate transformation parameters can be determined through the formula by judging that the speed track information of a plurality of candidate objects belongs to the speed track information of the same target object, the transformation speed vector and the target speed vector, and each coordinate information and transformation coordinate information uploaded by the calibration center millimeter wave radar are consistent.

In a second aspect, an embodiment of the present application provides a multi-millimeter-wave radar calibration device, including:

The first determining unit is used for receiving coordinate information, speed value and time information of candidate objects respectively acquired by a plurality of millimeter wave radars which are pre-bound in the same millimeter wave radar group and determining speed track information of the plurality of candidate objects;

A second determining unit, configured to determine velocity vectors of the plurality of millimeter wave radars according to coordinate information and velocity values of the plurality of millimeter wave radars if velocity trajectory information of the plurality of candidate objects is determined to belong to velocity trajectory information of the same target object;

The calibration unit is used for arbitrarily selecting one millimeter wave radar from the millimeter wave radar group as a calibration center millimeter wave radar according to the speed vectors and the coordinate information of the millimeter wave radars, determining the coordinate transformation parameters of the at least one auxiliary millimeter wave radar by taking the position of the calibration center millimeter wave radar as the origin of a target coordinate system, and identifying the object to be identified based on the coordinate transformation parameters and the coordinate information of the object to be identified reported by the millimeter wave radars in the millimeter wave radar group.

In a third aspect, the application provides an electronic device comprising a memory and a processor, a computer program executable on the processor on the memory, which when executed by the processor, implements the method of any of the first aspects.

In a fourth aspect, the application provides a multi-millimeter wave radar calibration system, which comprises a server and a millimeter wave radar;

the millimeter wave radar is used for collecting coordinate information, speed value and time information of a user and uploading the coordinate information, the speed value and the time information to the server;

the server is configured to perform the method of any one of the first aspects.

In a fifth aspect, the present application provides a computer readable storage medium having a computer program stored therein, which when executed by a processor, implements the method of any of the first aspects.

In a sixth aspect, the application provides a computer program product comprising a computer program: the computer program implementing the method according to any of the first aspects above when executed by a processor.

The technical effects caused by any implementation manner of the second aspect to the sixth aspect may refer to the technical effects caused by the corresponding implementation manner of the first aspect, and are not described herein.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a multi-millimeter-wave radar calibration system according to an embodiment of the present application;

fig. 2 is a schematic flow chart of a multi-millimeter-wave radar calibration method according to an embodiment of the present application;

FIG. 3 is a schematic diagram of coordinate track information according to an embodiment of the present application;

fig. 4 is a schematic diagram of different measurement directions at the standard reaching timing of the multi-millimeter-wave radar according to the embodiment of the application;

fig. 5 is a schematic diagram of a multi-millimeter-wave radar according to an embodiment of the present application with different placement heights at standard timing;

FIG. 6 is a schematic flow chart of determining coordinate transformation parameters according to an embodiment of the present application;

fig. 7 is a schematic diagram of coordinate track information under two coordinate systems according to an embodiment of the present application;

FIG. 8 is a schematic flow chart of speed track information of the same target object not recognized in the calibration process according to the embodiment of the present application;

FIG. 9 is a schematic flow chart of speed track information of the same target object not recognized in another calibration process according to the embodiment of the present application;

fig. 10 is a schematic flow chart of identifying an object to be identified by using a calibrated multi-millimeter wave radar according to an embodiment of the present application;

fig. 11 is a schematic diagram of a multi-millimeter-wave radar distribution according to an embodiment of the present application;

fig. 12 is a schematic diagram of two millimeter wave radars for identifying an object to be identified according to an embodiment of the present application;

Fig. 13 is a schematic diagram of another two millimeter wave radars for identifying objects to be identified according to an embodiment of the present application;

Fig. 14 is a schematic diagram of another multi-millimeter-wave radar distribution provided in an embodiment of the present application;

fig. 15 is a schematic diagram of five millimeter wave radars for identifying objects to be identified according to an embodiment of the present application;

fig. 16 is a flow chart of another method for calibrating a multi-millimeter-wave radar according to an embodiment of the present application;

fig. 17 is a schematic structural diagram of a multi-millimeter-wave radar calibration device according to an embodiment of the present application;

FIG. 18 is a schematic structural diagram of a calibration unit according to an embodiment of the present application;

fig. 19 is a schematic structural diagram of another multi-millimeter-wave radar calibration device according to an embodiment of the present application;

fig. 20 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Wherein the described embodiments are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

Also, in the description of the embodiments of the present application, unless otherwise indicated, "/" means or, for example, a/B may represent a or B; the text "and/or" is merely an association relation describing the associated object, and indicates that three relations may exist, for example, a and/or B may indicate: the three cases where a exists alone, a and B exist together, and B exists alone, and furthermore, in the description of the embodiments of the present application, "plural" means two or more than two.

The terms "first," "second," and the like, are used below for descriptive purposes only and are not to be construed as implying or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", or the like may explicitly or implicitly include one or more such feature, and in the description of embodiments of the application, unless otherwise indicated, the meaning of "a plurality" is two or more.

The method for calibrating the multi-millimeter-wave radar is usually used outdoors, the position is determined through GPS positioning, visual positioning and other modes, and the outdoor multi-millimeter-wave radar calibrating method is used in a smart home environment, so that a user cannot be positioned accurately. In addition, there is also the mode of obtaining the point cloud information of same object through many millimeter wave radars and carrying out the demarcation to many millimeter wave radars in the room, and the point cloud information is three-dimensional coordinate information to obtain the point cloud information and need a plurality of millimeter wave radars to be in the same direction, on the coplanar, receive millimeter wave radar measuring direction influence great, but in wisdom house control scene, the measuring direction of a plurality of millimeter wave radars in the daily monitoring process hardly keeps in the same direction always.

In view of the above problems, in the multi-millimeter-wave radar calibration method provided by the embodiment of the application, by judging the speed track information of a plurality of candidate objects obtained by the millimeter-wave radar, if the speed track information of the plurality of candidate objects is judged to belong to the speed track information of the same target object, the plurality of millimeter-wave radars are calibrated by determining the speed vectors of the plurality of millimeter-wave radars and by the speed vectors and the coordinate information of the plurality of millimeter-wave radars. In the calibration process of the millimeter wave radars, the acquired data comprise coordinate information, speed value and time information, the acquired coordinate information is two-dimensional coordinate information, the arrangement direction and arrangement height of the millimeter wave radars are not required to be limited, the millimeter wave radars can be directly arranged indoors for calibration, and the whole calibration process can be completed without the assistance of any other equipment or manual interference. In the use process, a plurality of millimeter wave radars are not required to keep the same measurement direction all the time.

The multi-millimeter wave radar calibration method provided by the embodiment of the application can be applied to electronic equipment, and the electronic equipment can be a server, such as an intelligent home control server; and can also be a terminal device, such as an intelligent home device. In the embodiment of the present application, an electronic device is taken as an example of a server, such as the server 12 in the multi-millimeter wave radar calibration system shown in fig. 1.

Fig. 1 shows an application scenario of the multi-millimeter-wave radar calibration method provided by the embodiment of the application. Referring to fig. 1, in this application scenario, a multi-millimeter-wave radar calibration system 10 includes a server 11 and 2 millimeter-wave radars, where the 2 millimeter-wave radars are respectively a millimeter-wave radar 12 and a millimeter-wave radar 13.

The server 11 provided in the embodiment of the present application may be a home server, such as an intelligent home control server or a computer for managing each home device, and may be used as a management center of the home device. The server 11 and the millimeter wave radar 12, the millimeter wave radar 13 are connected by wire or wireless, and data transmission is performed.

The server 11 may be a remote server, and the server 11 and the millimeter wave radar 12, and the millimeter wave radar 13 may be connected via a network or a cloud network.

The millimeter wave radar 12 and the millimeter wave radar 13 may be used to collect coordinate information, speed value and time information of the user, and upload the information to the server, so that the server 11 may calibrate the millimeter wave radar.

The server 11 is configured to receive coordinate information, speed values and time information of candidate objects collected by a plurality of millimeter wave radars that are bound in the same millimeter wave radar group in advance, and determine speed track information of the plurality of candidate objects; if the speed track information of the plurality of candidate objects is determined to belong to the speed track information of the same target object, determining the speed vectors of the plurality of millimeter wave radars according to the coordinate information and the speed values of the plurality of millimeter wave radars, arbitrarily selecting one millimeter wave radar from the millimeter wave radar group as a calibration center millimeter wave radar according to the speed vectors and the coordinate information of the plurality of millimeter wave radars, and determining the coordinate transformation parameter of at least one auxiliary millimeter wave radar by taking the position of the calibration center millimeter wave radar as the origin of a target coordinate system.

In order to further explain the technical solution provided by the embodiments of the present application, the following details are described with reference to the accompanying drawings and the detailed description. Although embodiments of the present application provide the method operational steps shown in the following embodiments or figures, more or fewer operational steps may be included in the method based on routine or non-inventive labor. In steps where there is logically no necessary causal relationship, the execution order of the steps is not limited to the execution order provided by the embodiments of the present application.

Referring to fig. 2, a flow chart of a multi-millimeter-wave radar calibration method according to an embodiment of the present application is shown. Taking calibration of 2 millimeter wave radars as an example for illustration, as shown in fig. 2, the method comprises the following steps:

step S201: and receiving coordinate information, speed values and time information of candidate objects respectively acquired by a plurality of millimeter wave radars which are pre-bound in the same millimeter wave radar group, and determining speed track information of the plurality of candidate objects.

In one possible embodiment, before calibrating the 2 millimeter wave radars, the server needs to respond to a binding operation of the user to bind the two millimeter wave radars to be calibrated in the same millimeter wave radar group. Taking the binding relation between the first millimeter wave radar and the second millimeter wave radar as an example, the millimeter wave radar group constructed after the binding is called a first millimeter wave radar group.

Specifically, the identification information of the first millimeter wave radar is taken as radar1, the identification information of the second millimeter wave radar is taken as radar2, and the identification information of the first millimeter wave radar group is set as team1. In this way, it is possible to determine which of the millimeter wave radars to be calibrated belongs to which millimeter wave radar group.

The coordinate information, the speed value and the time information of the candidate objects respectively acquired by the 2 millimeter wave radars which are pre-bound in the same millimeter wave radar group are received and can be expressed in the following mode.

Coordinate information, speed value and time information of the candidate object collected by the first millimeter wave radar are expressed in the following modes:

Wherein n represents the number of coordinate information, and V ₁ represents the speed value of the candidate object acquired by the first millimeter wave radar; t ₁ represents time information of the candidate object acquired by the first millimeter wave radar. And obtaining coordinate track information according to the coordinate information of the candidate object acquired by the first millimeter wave radar, as shown in fig. 3.

Coordinate information, speed value and time information of the candidate object collected by the second millimeter wave radar are expressed in the following modes:

Wherein n represents the number of coordinate information, and V ₂ represents the speed value of the candidate object acquired by the second millimeter wave radar; t ₂ denotes time information of the candidate object acquired by the second millimeter wave radar.

Fig. 4 shows a plan view of a living room where two millimeter wave radars are placed, the first millimeter wave radar being placed at a position 1 in the living room in the direction shown in fig. 4, and the first millimeter wave radar being placed at a position 2 in the living room in the direction shown in fig. 4. It can be seen that the measurement directions of the first millimeter wave radar and the second millimeter wave radar do not need to be kept identical.

Fig. 5 shows a front view of a living room where two millimeter-wave radars are placed, and the positions where the first millimeter-wave radar and the second millimeter-wave radar are placed are shown in fig. 5, and since the coordinate information acquired by the millimeter-wave radars is two-dimensional information in the marking process and in the subsequent use process in the present application, the heights of the two millimeter-wave radars can be set at will without maintaining the same height.

The coordinate information collected by the first millimeter wave radar is coordinate information with the position of the first millimeter wave radar as an origin, and the coordinate information collected by the second millimeter wave radar is coordinate information with the position of the second millimeter wave radar as the origin. And replacing the coordinate information by the speed value and the time information corresponding to each coordinate information, so that the speed track information corresponding to each candidate object can be obtained.

Wherein the coordinate information of each point of the candidate object collected by the first millimeter wave radar and the coordinate information of each point of the candidate object collected by the second millimeter wave radar can be represented as:

The speed trajectory information corresponding to each candidate object can be expressed as follows:

Q₁＝{data_1(p1₁),data_1(p1₂),…,data_1(p1_n)}

Q₂＝{data_2(p2₁),data_2(p2₂),…,data_2(p2_n)}

Wherein Q ₁ represents speed trajectory information of the candidate object collected by the first millimeter wave radar, and Q ₂ represents speed trajectory information of the candidate object collected by the second millimeter wave radar.

After determining the speed trajectory information of the candidate object acquired by the two millimeter wave radars, step S202 is performed.

Step S202: if the speed track information of the plurality of candidate objects is determined to belong to the speed track information of the same target object, determining the speed vectors of the plurality of millimeter wave radars according to the coordinate information and the speed values of the plurality of millimeter wave radars.

In one possible embodiment, before determining the calibration process of the two millimeter wave radars, it is further required to determine whether the two millimeter wave radars can be calibrated, where the specific determination process is as follows:

And determining the similarity between the speed track information of the 2 candidate objects according to the speed track information of the 2 candidate objects, and determining that the plurality of candidate objects are the same target object if the similarity meets a set threshold.

The similarity between the velocity trajectories of the 2 candidate objects is determined by the following formula:

Where sim (Q1, Q2) represents the similarity between the velocity trajectories of 2 candidates.

After the similarity between the speed track information of the 2 candidate objects is determined, if the similarity is greater than a set threshold, the speed track information corresponding to the two candidate objects can be considered to be the speed track information of the same target object, namely, the judging process is completed, and the calibration process can be performed.

The two millimeter wave radars are calibrated through the coordinate information and the speed value acquired by the two millimeter wave radars, namely, the speed vector corresponding to each coordinate information is determined, and the speed vector of the first millimeter wave radar is determined for illustration, wherein the specific formula is as follows:

wherein, The velocity vector corresponding to the nth coordinate information of the first millimeter wave radar is represented by x _n, the abscissa of the nth coordinate information is represented by y _n, the ordinate of the nth coordinate information is represented by x _n+1, the abscissa of the (n+1) th coordinate information is represented by y _n+1, and the ordinate of the (n+1) th coordinate information is represented by y.

The velocity vector corresponding to the nth coordinate information is determined by the relative position of the nth coordinate information and the (n+1) th coordinate information.

Above-mentionedRepresenting a velocity vector corresponding to the nth coordinate information of the first millimeter wave radarAnd representing a velocity vector corresponding to the nth coordinate information of the second millimeter wave radar.

It should be noted that, in the calibration process, the speed vector of each point on the track information is determined according to one piece of coordinate track information or speed track information, so the speed vector corresponding to the last piece of coordinate information cannot be solved, and the relative position is determined without the next piece of coordinate information. In the subsequent calibration process, the millimeter wave radar can be calibrated by removing the speed vector corresponding to the last coordinate information, and the implementation of the multi-millimeter wave radar calibration method is not affected.

Step S203: according to the speed vectors and the coordinate information of the millimeter wave radars, one millimeter wave radar is arbitrarily selected from the millimeter wave radar group to serve as a calibration center millimeter wave radar, the position of the calibration center millimeter wave radar is taken as the origin of a target coordinate system, the coordinate transformation parameter of at least one auxiliary millimeter wave radar is determined, and the object to be identified is identified based on the coordinate transformation parameter and the coordinate information of the object to be identified reported by the millimeter wave radars in the millimeter wave radar group.

The auxiliary millimeter wave radar is other millimeter wave radars except for the center millimeter wave radar in the millimeter wave radar group.

In one possible embodiment, after determining the velocity vector of the first millimeter wave radar and the velocity vector of the second millimeter wave radar, the coordinate transformation parameter may be determined by the velocity vector of the millimeter wave radar and the coordinate information.

One millimeter wave radar is arbitrarily selected from the first millimeter wave radar and the second millimeter wave radar as a calibration center millimeter wave radar, the second millimeter wave radar can be used as the calibration center millimeter wave radar, the position of the calibration center millimeter wave radar is used as the origin of a target coordinate system, the first millimeter wave radar is used as an auxiliary millimeter wave radar, and the coordinate transformation parameters of the auxiliary millimeter wave radar are determined.

Wherein the coordinate transformation parameters include a first translation parameter, a second translation parameter, and a rotation parameter.

The first translation parameter and the second translation parameter may be represented as a translation matrix, specifically as follows:

Wherein m _TCx represents a first translation parameter; m _TCy denotes a second translation parameter.

The rotation parameters may be expressed as a rotation matrix, as follows:

Where θ represents a rotation parameter.

Before the coordinate transformation parameters are not determined, the coordinate transformation parameters are unknown, and the first millimeter wave radar is used as an auxiliary millimeter wave radar, so that the coordinate transformation parameters which are unknown can be used as transformation parameters to be solved and brought into a calculation process.

Namely, the transformation parameters to be solved of the auxiliary millimeter wave radar respectively comprise: the first translation parameter to be solved m _TCx1, the second translation parameter to be solved m _TCy1 and the rotation parameter to be solved θ ₁, the corresponding translation matrix to be solved and rotation matrix to be solved may be expressed as:

The specific process of determining the coordinate transformation parameters of the auxiliary millimeter wave radar is as follows, as shown in fig. 6, and includes the following steps:

Step S601: and determining transformation coordinate information of the auxiliary millimeter wave radar under the target coordinate system according to the coordinate information acquired by the auxiliary millimeter wave radar.

In one possible embodiment, according to the coordinate information collected by the auxiliary millimeter wave radar, the method for determining the transformed coordinate information of the auxiliary millimeter wave radar under the target coordinate system is as follows: according to the first translation parameter to be solved and the second translation parameter to be solved, determining a translation matrix to be solved, determining a rotation matrix to be solved according to the rotation parameter to be solved, and taking the sum of the product of the rotation matrix to be solved and each coordinate information and the translation matrix to be solved as transformed coordinate information of any auxiliary millimeter wave radar under a target coordinate system.

The specific formula is as follows:

wherein, And representing transformed coordinate information of the auxiliary millimeter wave radar under the target coordinate system.

As shown in fig. 7, the coordinate information identified in fig. 7 under the abscissa system with the position of the first millimeter wave radar as the origin and the x and y axes as the abscissa system is transformed to the coordinate system established under the target coordinate system with the position of the second millimeter wave radar as the origin, the x1 as the abscissa axis and the y1 as the ordinate axis by the translation matrix to be solved and the rotation matrix to be solved.

Step S602: and determining a transformation speed vector of any auxiliary millimeter wave radar under the target coordinate system according to the speed vector corresponding to the coordinate information acquired by any auxiliary millimeter wave radar.

In one possible embodiment, according to the speed vector corresponding to the coordinate information collected by any one auxiliary millimeter wave radar, the method for determining the transformation speed vector of any one auxiliary millimeter wave radar under the target coordinate system is as follows: determining a translation matrix to be solved according to the first translation parameter to be solved and the second translation parameter to be solved, and determining a rotation matrix to be solved according to the rotation parameter to be solved; and taking the sum of the product of the rotation matrix to be solved and the speed vector corresponding to each coordinate information and the translation matrix to be solved as each transformation speed vector of any auxiliary millimeter wave radar under the target coordinate system.

The specific formula is as follows:

wherein, And the transformation speed vector of the auxiliary millimeter wave radar under the target coordinate system is represented.

Step S603: and constructing an objective function based on the transformed coordinate information, the transformed speed vector, the coordinate information uploaded by the calibration center millimeter wave radar and the speed vector corresponding to the calibration center millimeter wave radar, and solving a partial derivative of the objective function to determine the partial derivative of the objective.

Wherein the objective function is as follows:

wherein, Representing each transformed coordinate information; Each coordinate information uploaded by the millimeter wave radar of the calibration center is represented; representing each transformation speed vector; Each speed vector corresponding to the millimeter wave radar at the calibration center is represented; t is a constant; n represents the number of coordinate information uploaded by the transformed coordinate information or the calibrated center millimeter wave radar.

And (3) introducing the translation matrix to be solved and the rotation matrix to be solved into an objective function, wherein the objective function is as follows:

Because the track information of the calibration center millimeter wave radar and the track information of the auxiliary millimeter wave radar are determined to belong to the track information of the same target object in the process, each transformation coordinate information corresponds to each coordinate information uploaded by the calibration center millimeter wave radar, and each transformation speed vector corresponds to each speed vector of the calibration center millimeter wave radar in a one-to-one correspondence manner. Therefore, the value of the objective function should be 0, and the objective partial derivative is determined based on the value of the objective function being 0.

Step S604: and determining the minimum value of the objective function based on the partial derivative of the objective function, and taking the obtained transformation parameter to be solved as the coordinate transformation parameter of any auxiliary millimeter wave radar when the objective function takes the minimum value.

In one possible embodiment, when determining the minimum value of the objective function based on the partial derivative of the objective function and taking the minimum value of the objective function, the first translation parameter to be solved for the unknown number, the second translation parameter to be solved for the unknown number, and the value of the rotation parameter to be solved for the unknown number, the first translation parameter, the second translation parameter, and the rotation parameter are determined.

In the process of determining the minimum value of the objective function based on the objective partial derivative, the partial derivative of the objective function may be used as an iterative formula, the first partial derivative may be determined for the objective function, the first minimum value may be found, the second partial derivative may be determined for the objective function, the second minimum value may be found, and the optimal coordinate transformation parameter may be found by continuous iteration.

The calibration process of the first millimeter wave radar and the second millimeter wave radar is completed, the calibration process is illustrated by only two calibration processes of the millimeter wave radar, and is illustrated by only one millimeter wave radar group, in the process of being put into use, if a plurality of rooms are included in a room, a plurality of calibrated millimeter wave radars can be placed in each room, so that all action track information of a user in the whole room can be clearly identified, the action track information of the user can be clearly identified, and the method is applied to intelligent home control, and the control process is more accurate; the method is applied to predicting that the user is dangerous enough at the next moment, and can be more accurate.

It should be noted that, taking the first millimeter wave radar group as an example, 2 millimeter wave radars are included. Fig. 8 shows a schematic flow chart of velocity trajectory information of two candidate objects not belonging to the same target object. The method comprises the following steps:

Step S801: and determining the similarity between the speed track information of the two candidate objects according to the speed track information of the two candidate objects.

Step S802: if the similarity is smaller than the set threshold value, determining that the speed track information of the two candidate objects does not belong to the speed track information of the same target object, and ending.

Because the millimeter wave radars which are bound in the same millimeter wave radar group in advance are calibrated, if the speed track information of a plurality of candidate objects of the millimeter wave radars of the same millimeter wave radar group is judged not to belong to the speed track information of the same target object, the subsequent calibration process is not carried out.

In another possible embodiment, when the number of millimeter wave radars included in the first millimeter wave radar group is particularly large, even if the speed locus information of a plurality of candidate objects corresponding to the millimeter wave radars in the first millimeter wave radar group is not the speed locus information of the same target object, it is possible to process in the following manner, taking 10 millimeter wave radars included in the first millimeter wave radar group as an example. Fig. 9 is a schematic flow chart showing a process in which velocity trajectory information of a plurality of candidate objects does not belong to velocity trajectory information of the same target object. The method comprises the following steps:

Step S901: and determining the similarity between the speed track information of each two candidate objects according to the speed track information of the plurality of candidate objects.

Step S902: and determining that the similarity of the speed track information of a first part of candidate objects in the plurality of candidate objects meets a first set threshold value, and determining that the similarity of the speed track information of a second part of candidate objects in the plurality of candidate objects meets a second set threshold value.

Step S903: dividing a plurality of millimeter wave radars in the same millimeter wave radar group into a first partial millimeter wave radar and a second partial millimeter wave radar, establishing a binding relation between the first partial millimeter wave radar, establishing a second millimeter wave radar group, establishing a binding relation between the second partial millimeter wave radar and a third millimeter wave radar group.

Step S904: calibrating millimeter wave radars in the second millimeter wave radar group, and calibrating millimeter wave radars in the third millimeter wave radar group.

In one possible embodiment, if 10 millimeter wave radars exist in the first millimeter wave radar group, if it is determined that the speed track information of the first 5 candidate objects belongs to the speed track information of the first target object, the speed track information of the second 5 candidate objects belongs to the speed track information of the second target object, the millimeter wave radars can be bound again, the millimeter wave radars uploading the speed track information of the first 5 candidate objects are bound in the second millimeter wave radar group for calibration, the millimeter wave radars uploading the speed track information of the second 5 candidate objects are bound in the third millimeter wave radar group for calibration, and the calibration process of the two groups of millimeter wave radars can be completed simultaneously.

After the coordinate transformation parameters of the auxiliary millimeter wave radar are determined, the auxiliary millimeter wave radar and the calibration center millimeter wave radar can be put into use, namely, the object to be identified is identified based on the coordinate transformation parameters and the coordinate information of the object to be identified reported by a plurality of millimeter wave radars in the millimeter wave radar group.

Specifically, fig. 10 shows a schematic flow chart of identifying an object to be identified by using calibrated multiple millimeter wave radars, which is applied to electronic equipment, taking a server 11 as an example. The method comprises the following steps:

step S1001: and determining at least one millimeter wave radar group according to the identification information of the millimeter wave radars.

In a possible embodiment, in use, as shown in fig. 11, the room may include 3 rooms, where two millimeter wave radars exist in each room to identify the object to be identified, and the server needs to control 6 millimeter wave radars simultaneously. The server may determine which millimeter wave radars belong to the same millimeter wave radar group based on the identification information of the plurality of millimeter wave radars. For example, according to the identification information being radar1 and radar2, it may be determined that the first millimeter wave radar and the second millimeter wave radar are in the first millimeter wave radar group, and it may be determined that the first millimeter wave radar is an auxiliary millimeter wave radar.

Step S1002: and determining the coordinate transformation parameters corresponding to the at least one auxiliary millimeter wave radar based on the preset corresponding relation between the identification information of the at least one auxiliary millimeter wave radar and the coordinate transformation parameters aiming at any one determined millimeter wave radar group.

In one possible embodiment, if it is determined that the first millimeter wave radar is an auxiliary millimeter wave radar, the server may obtain the coordinate transformation parameter corresponding to the first millimeter wave radar from the memory.

Step S1003: according to the coordinate transformation parameters, transforming the coordinate information uploaded by at least one auxiliary millimeter wave radar into target coordinate information in a target coordinate system, and identifying the object to be identified by calibrating the coordinate information of the center millimeter wave radar and the target coordinate information.

In one possible embodiment, in a use process, the server receives coordinate information uploaded by the first millimeter wave radar, where the coordinate information uploaded by the first millimeter wave radar is expressed as:

wherein, Coordinate information representing a first candidate object; x _n' represents the abscissa of the coordinate information of the first candidate; y _n' represents the ordinate of the coordinate information of the first candidate.

The coordinate information can be converted into the target coordinate information in the target coordinate system through the coordinate conversion parameters corresponding to the first millimeter wave radar, and the coordinate information uploaded by the first millimeter wave radar is converted through the first translation parameters, the second translation parameters and the rotation parameters, wherein the specific formula is as follows:

The method comprises the steps of identifying an object to be identified through two millimeter wave radars, wherein a second millimeter wave radar is used as a calibration center millimeter wave radar, the position of the second millimeter wave radar is used as an origin, x1 is used as an abscissa axis, y1 is used as an ordinate axis, and an established coordinate system is used as a target coordinate system. After the coordinate information identified by the first millimeter wave radar is converted into the target coordinate system, as shown in fig. 12, when the object to be identified moves away from the second millimeter wave radar, the second millimeter wave radar is weaker in identification of the object to be identified, but the coordinate information of the first millimeter wave radar is converted into the target coordinate information, and the target coordinate information and the coordinate information of the second millimeter wave radar are used for identifying the object to be identified together, so that the effect is more accurate, the accuracy is higher, and the identifiable range of the object to be identified is enlarged.

Further, if the motion track of the object to be identified is shown in fig. 13, in the target coordinate system established by taking the position of the second millimeter wave radar as the origin, due to the motion of the object to be identified and the problem of the identification angle of the second millimeter wave radar, the object to be identified may have a situation that the object to be identified leaves the identification range of the second millimeter wave radar, in this case, the measurement angle of the second millimeter wave radar may be increased by the first millimeter wave radar, so that the identifiable range of the object to be identified is increased, and the object to be identified is effectively identified.

In another possible embodiment, if 5 calibrated millimeter wave radars are required to identify the object to be identified in a larger space, for example, as shown in fig. 14, the 5 millimeter wave radars are respectively placed in corners of the warehouse, at this time, 4 auxiliary millimeter wave radars exist, and after the server acquires the coordinate information of the 4 auxiliary millimeter wave radars, the coordinate information of the 4 auxiliary millimeter wave radars needs to be completely converted into the target coordinate information under the target coordinate system, and the object to be identified is identified through cooperation of the 5 millimeter wave radars, so that the action track information of the object to be identified can be accurately identified.

As shown in fig. 15, if 5 calibrated millimeter wave radars are used for identifying the object to be identified, the continuity of the action track information of the object to be identified can be ensured in a large area.

Fig. 16 also provides a detailed flow chart of the multi-millimeter-wave radar calibration method, which comprises the following steps:

Step S1601: and receiving coordinate information, speed values and time information of candidate objects respectively acquired by a plurality of millimeter wave radars which are pre-bound in the same millimeter wave radar group, and determining speed track information of the plurality of candidate objects.

Step S1602: according to the speed track information of the plurality of candidate objects, the similarity between the speed track information of each two candidate objects is respectively determined, and at least one similarity is obtained;

Step S1603: and if at least one similarity meets the set threshold, determining that the plurality of candidate objects are the same target object.

Step S1604: and determining the speed vectors of the millimeter wave radars according to the coordinate information and the speed values of the millimeter wave radars.

Step S1605: according to the speed vectors and the coordinate information of the millimeter wave radars, one millimeter wave radar is arbitrarily selected from the millimeter wave radar group to serve as a calibration center millimeter wave radar, the position of the calibration center millimeter wave radar is taken as the origin of a target coordinate system, and the coordinate transformation parameter of at least one auxiliary millimeter wave radar is determined.

Based on the same inventive concept, the embodiment of the application also provides a multi-millimeter-wave radar calibration device, and fig. 17 is a schematic structural diagram of the multi-millimeter-wave radar calibration device provided by the embodiment of the application; as shown in fig. 17, the apparatus includes:

A first determining unit 1710, configured to receive coordinate information, speed values, and time information of candidate objects collected by a plurality of millimeter wave radars respectively, which are bound in the same millimeter wave radar group in advance, and determine speed track information of the plurality of candidate objects;

A second determining unit 1720, configured to determine velocity vectors of the plurality of millimeter wave radars according to the coordinate information and the velocity values of the plurality of millimeter wave radars if it is determined that the velocity trajectory information of the plurality of candidate objects belongs to the velocity trajectory information of the same target object;

The calibration unit 1730 is configured to arbitrarily select one millimeter wave radar from the millimeter wave radar group as a calibration center millimeter wave radar according to the speed vectors and coordinate information of the plurality of millimeter wave radars, and determine a coordinate transformation parameter of at least one auxiliary millimeter wave radar by using a position of the calibration center millimeter wave radar as an origin of a target coordinate system, so as to identify an object to be identified based on the coordinate transformation parameter and coordinate information of the object to be identified reported by the plurality of millimeter wave radars in the millimeter wave radar group.

In a possible embodiment, the first determining unit 1710 is further configured to:

And transforming the coordinate track of each candidate object according to the speed value and the time information corresponding to each coordinate information to obtain speed track information of a plurality of candidate objects.

In a possible embodiment, the second determining unit 1720 is further configured to:

According to the speed track information of the plurality of candidate objects, the similarity between the speed track information of each two candidate objects is respectively determined, and at least one similarity is obtained;

And if at least one similarity meets the set threshold, determining that the plurality of candidate objects are the same target object.

and determining a speed vector corresponding to any one coordinate information according to any one coordinate information, the speed value and the next coordinate information of any one coordinate information aiming at any one coordinate information of any one auxiliary millimeter wave radar.

In a possible embodiment, fig. 18 shows a schematic structural diagram of a calibration unit, the calibration unit 1730 further comprising:

a first transformation module 1731, configured to determine, for any one of the auxiliary millimeter wave radars, transformed coordinate information of the any one of the auxiliary millimeter wave radars in a target coordinate system according to coordinate information acquired by the any one of the auxiliary millimeter wave radars, and

The second transformation module 1732 is configured to determine a transformed velocity vector of any one auxiliary millimeter wave radar under the target coordinate system according to a velocity vector corresponding to the coordinate information acquired by any one auxiliary millimeter wave radar;

the first determining module 1733 is configured to construct an objective function based on the transformed coordinate information, the transformed velocity vector, the coordinate information uploaded by the calibration center millimeter wave radar, and each velocity vector corresponding to the calibration center millimeter wave radar; the partial derivative of the objective function is calculated, and the objective partial derivative is determined;

And the second determining module 1734 is configured to determine a minimum value of the objective function based on the partial derivative of the objective function, and when the objective function takes the minimum value, obtain the transformation parameter to be solved as a coordinate transformation parameter of any one auxiliary millimeter wave radar.

The embodiment of the application also provides another multi-millimeter-wave radar calibration device, as shown in fig. 19, which further comprises:

an identification unit 1910 configured to determine at least one millimeter wave radar group according to identification information of a plurality of millimeter wave radars;

Determining coordinate transformation parameters corresponding to at least one auxiliary millimeter wave radar based on a preset corresponding relation between identification information of the at least one auxiliary millimeter wave radar and the coordinate transformation parameters aiming at any one determined millimeter wave radar group;

And determining the coordinate transformation parameters corresponding to the at least one auxiliary millimeter wave radar based on the preset corresponding relation between the identification information of the at least one auxiliary millimeter wave radar and the coordinate transformation parameters aiming at any one determined millimeter wave radar group.

The embodiment of the application also provides electronic equipment which can be used for executing the flow of the multi-millimeter-wave radar calibration method, and the electronic equipment can be a server in a multi-millimeter-wave radar calibration system, such as an intelligent home control server. The electronic device comprises at least a memory for storing data and a processor, wherein for the processor for data processing, the processor for data processing may be implemented by a microprocessor, a CPU, a GPU (Graphics Processing Unit, a graphics processing unit), a DSP or an FPGA. For the memory, the memory stores operation instructions, which may be computer executable codes, to implement each step in the flow of the multi-millimeter wave radar calibration method according to the embodiment of the present application.

Fig. 20 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 20, the electronic device 2000 includes a memory 2001, a processor 2002, a data acquisition module 2003, and a bus 2004. The memory 2001, the processor 2002, and the data obtaining module 2003 are all connected through a bus 2004, and the bus 2004 is used for transferring data among the memory 2001, the processor 2002, and the data obtaining module 2003.

The memory 2001 may be used to store software programs and modules, and the processor 2002 executes the software programs and modules stored in the memory 2001 to perform various functional applications and data processing of the electronic device 2000, such as the multi-millimeter-wave radar calibration method provided by the embodiment of the present application. The memory 2001 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program of at least one application, and the like; the storage data area may store data created according to the use of the electronic device 2000, etc. In addition, memory 2001 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

The processor 2002 is a control center of the electronic device 2000, and utilizes the bus 2004 and various interfaces and lines to connect the various parts of the entire electronic device 2000, execute the various functions of the electronic device 2000 and process data by running or executing software programs and/or modules stored in the memory 2001, and invoking data stored in the memory 2001. Optionally, the processor 2002 may include one or more processing units, such as a CPU, GPU (Graphics Processing Unit ), digital processing unit, or the like.

The data acquisition module 2003 is used for acquiring data and receiving coordinate information, speed value and time information acquired by the millimeter wave radar.

The embodiment of the application also provides a computer readable storage medium, wherein computer executable instructions are stored in the computer storage medium, and the computer program can be used for realizing the multi-millimeter wave radar calibration method according to any embodiment of the application when being executed by a processor.

In some possible embodiments, aspects of the multi-millimeter-wave radar calibration method provided by the present application may also be implemented in the form of a program product, which includes a program code for causing a computer device to perform the steps of the multi-millimeter-wave radar calibration method according to the various exemplary embodiments of the present application described above in this specification, when the program product is run on the computer device, for example, the computer device may perform the flow of the multi-millimeter-wave radar calibration method as shown in fig. 2 from step S201 to step S203.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. A method for calibrating a multi-millimeter wave radar, the method comprising:

Selecting one millimeter wave radar from the millimeter wave radar group as a calibration center millimeter wave radar, taking the rest millimeter wave radars in the millimeter wave radar group as auxiliary millimeter wave radars, and taking the position of the calibration center millimeter wave radar as the origin of a target coordinate system;

Determining a transformation speed vector of any one auxiliary millimeter wave radar under a target coordinate system according to the product of the speed vector corresponding to the coordinate information acquired by the any one auxiliary millimeter wave radar and the rotation matrix to be solved and the sum of the translation matrix to be solved;

constructing an objective function based on the transformed coordinate information, the transformed speed vector, the coordinate information uploaded by the calibration center millimeter wave radar and each speed vector corresponding to the calibration center millimeter wave radar; the partial derivative of the objective function is calculated, and the objective partial derivative is determined;

And determining the minimum value of the objective function based on the target partial derivative, and determining the coordinate transformation parameter of any auxiliary millimeter wave radar according to the obtained transformation parameter to be solved when the minimum value is taken according to the objective function, so as to identify the object to be identified based on the coordinate transformation parameter and the coordinate information of the object to be identified reported by a plurality of millimeter wave radars in the millimeter wave radar group.

2. The method according to claim 1, wherein the receiving coordinate information, speed value and time information of the candidate objects collected by the plurality of millimeter wave radars respectively, which are bound in the same millimeter wave radar group in advance, and determining speed trajectory information of the plurality of candidate objects, comprises:

3. The method according to claim 2, wherein whether the speed trajectory information of the plurality of candidate objects belongs to the speed trajectory information of the same target object is determined by:

4. The method of claim 1, wherein the determining the velocity vectors of the plurality of millimeter wave radars based on the coordinate information and the velocity values of the plurality of millimeter wave radars comprises:

5. The method of claim 1, wherein the coordinate transformation parameters to be solved include a first translation parameter to be solved, a second translation parameter to be solved, and a rotation parameter to be solved;

6. The method of claim 1, wherein the coordinate transformation parameters to be solved include a first translation parameter to be solved, a second translation parameter to be solved, and a rotation parameter to be solved;

the translation matrix to be solved and the rotation matrix to be solved are determined by:

And determining a translation matrix to be solved according to the first translation parameter to be solved and the second translation parameter to be solved, and determining a rotation matrix to be solved according to the rotation parameter to be solved.

7. The method of claim 4, wherein constructing an objective function based on the each transformed coordinate information and the each transformed velocity vector, and each coordinate information uploaded by the calibrated center millimeter wave radar and each velocity vector corresponding to the calibrated center millimeter wave radar, comprises:

wherein L _p1i' represents the each transformed coordinate information; l _p2i represents each coordinate information uploaded by the calibration center millimeter wave radar; v _p1i' represents said each transformation speed vector; v _p2i represents each velocity vector corresponding to the calibrated center millimeter wave radar; t represents matrix transposition; n represents the number of the transformed coordinate information or the coordinate information uploaded by the millimeter wave radar of the calibration center.

8. A multi-millimeter wave radar calibration device, the device comprising:

A calibration unit for performing the following operations:

9. A computer-readable storage medium having a computer program stored therein, characterized in that: the computer program, when executed by a processor, implements the method of any of claims 1-7.