CN117347958A - Millimeter wave radar testing method and testing system - Google Patents
Millimeter wave radar testing method and testing system Download PDFInfo
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- CN117347958A CN117347958A CN202311424087.0A CN202311424087A CN117347958A CN 117347958 A CN117347958 A CN 117347958A CN 202311424087 A CN202311424087 A CN 202311424087A CN 117347958 A CN117347958 A CN 117347958A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
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- G01S7/4052—Means for monitoring or calibrating by simulation of echoes
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Abstract
The invention provides a testing method and a testing system of a millimeter wave radar, wherein a plurality of target reflectors are arranged at different positions and at different angles in a detectable range of the millimeter wave radar to be tested, so that the radio frequency performance (including the link gain and the view field of a receiving antenna) of the millimeter wave radar to be tested under a plurality of angles can be verified at one time without changing the relative positions/angles of the millimeter wave radar to be tested and the target reflectors by using mechanical mechanisms such as a turntable and the like, the testing time is greatly shortened, and in addition, the mechanical error caused by the rotation of the turntable does not exist, and the testing precision is high.
Description
Technical Field
The invention relates to the technical field of testing, in particular to a testing method and a testing system of millimeter wave radar.
Background
The millimeter wave radar has good target monitoring capability in a plurality of fields such as intelligent home, health monitoring, automatic driving, in-car application and the like due to low cost and good environmental adaptability, and for the application of the key tasks, the quality of radar performance becomes the key of whether the product can be safely applied.
One widely used method of evaluating radar system performance is to detect radar transceiver antenna link gain, FOV (Field-of-View), etc. using a single calibration object. Prior art test systems typically place a radar on a turret in a darkroom, hold a target (e.g., a corner reflector) at a distance from the radar, use a mechanical mechanism such as the turret to change the relative position/angle of the radar and the target so that the target is located at different angles of the radar field of view, and transmit FMCW (chirped pulse) signals at each angle using each transmit antenna of the radar, respectively, while capturing and processing the ADC outputs of all receiver chains of the radar to measure signal strength. In the test of each radar to be tested, the relative position/angle of the radar and the target is required to be changed for many times by using a mechanical structure such as a turntable and the like, and measurement data is acquired to finish the test.
For mass production test of millimeter wave radar with key performance, a device with small measurement error and short test time is needed to better meet the test requirement. In the existing radar test method, mechanical mechanisms such as a turntable and the like need to be rotated for many times to test the performance of the radar to be tested under a plurality of angles, and the time spent by each test not only comprises the time for collecting data and analyzing the data, but also comprises the rotation time of the mechanical structure, so the test time is long; in addition, when a mechanical structure such as a turntable is used for positioning, the accuracy of a test result is affected to a certain extent by the existence of mechanical errors, namely, the accuracy of the test is poor, and the mechanical errors exist.
In conclusion, the existing radar test method has the technical problems of long test time and poor test precision.
Disclosure of Invention
In view of the above, the present invention aims to provide a testing method and a testing system for millimeter wave radar, so as to alleviate the technical problems of long testing time and poor testing precision of the existing testing method for radar.
In a first aspect, an embodiment of the present invention provides a method for testing a millimeter wave radar, including:
installing a plurality of target reflectors at different positions and at different angles within a detectable range of a fixedly installed millimeter wave radar to be detected, wherein interference between the gains of receiving and transmitting antenna links of the different target reflectors received by the millimeter wave radar to be detected is smaller than a preset value;
acquiring a receiving and transmitting antenna link gain obtained after the millimeter wave radar to be detected detects each target reflector, and calculating the target receiving and transmitting antenna link gain of each target reflector obtained by the millimeter wave radar to be detected, and a pitch angle and an azimuth angle corresponding to each target reflector according to the receiving and transmitting antenna link gain;
and comparing the link gain of the target receiving and transmitting antenna of each target reflector, the pitch angle and the azimuth angle corresponding to each target reflector with standard values to determine whether the millimeter wave radar to be detected is qualified or not.
Further, the different positions include: the distance between any two target reflectors is not smaller than 3 distance indexes, the difference of the radial distances between any two target reflectors and the millimeter wave radar to be detected is not smaller than 3 distance indexes, and the distance indexes are the distance resolution of the millimeter wave radar to be detected.
Further, the different angles include: and all the pitch angles and azimuth angles of the target reflectors cover the design value and 0 degree of the field of view of the millimeter wave radar to be detected.
Further, calculating, according to the transmit-receive antenna link gain, a target transmit-receive antenna link gain of each target reflector obtained by detection of the millimeter wave radar to be detected, and a pitch angle and an azimuth angle corresponding to each target reflector, including:
extracting a target receiving and transmitting antenna link gain of a corresponding target reflector from the receiving and transmitting antenna link gains corresponding to the target reflector according to the physical position of each target reflector;
and carrying out spatial filtering on the link gains of the receiving and transmitting antennas to obtain filtered signals, determining a target position of an energy maximum point according to the filtered signals, and taking a pitch angle and an azimuth angle corresponding to the target position as a pitch angle and an azimuth angle corresponding to the target reflector.
Further, extracting the target transceiver antenna link gain of the corresponding target reflector from the transceiver antenna link gains corresponding to each target reflector according to the physical position of each target reflector comprises:
determining an initial receiving-transmitting antenna link gain from the receiving-transmitting antenna link gain according to the physical position of a current target reflector, wherein the current target reflector is obtained by traversing the target reflector, and the initial receiving-transmitting antenna link gain is the receiving-transmitting antenna link gain corresponding to the current target reflector;
determining the receiving-transmitting antenna link gain of the current target reflector under each distance index according to the initial receiving-transmitting antenna link gain;
and taking the maximum receiving and transmitting antenna link gain in the receiving and transmitting antenna link gains under each distance index as the target receiving and transmitting antenna link gain of the current target reflector, and further obtaining the target receiving and transmitting antenna link gain of each target reflector.
Further, performing spatial filtering on the link gain of each transceiver antenna includes:
calculating the weight of each direction of the link gain of each receiving and transmitting antenna by adopting a radar arrival angle estimation algorithm;
And carrying out weighted calculation on each receiving and transmitting antenna link gain and the weight of each direction of the corresponding receiving and transmitting antenna link gain to obtain the filtered signal.
Further, determining a target position of an energy maximum point according to the filtered signal includes:
determining output power according to the filtered signal;
carrying out minimum solution on the output power to obtain power values of the reflected signals under different angles, and further obtaining a power thermodynamic diagram;
determining a first azimuth angle and a first pitch angle corresponding to a power maximum value in the power thermodynamic diagram, and determining a first power value to be checked in a preset range taking the first azimuth angle and the first pitch angle as the center in the power thermodynamic diagram;
adding and calculating the first power value to be checked to obtain a first adding and calculating result;
determining a second azimuth angle and a second pitch angle corresponding to a second maximum value of power in the power thermodynamic diagram, and determining a second power value to be checked in a preset range centering on the second azimuth angle and the second pitch angle in the power thermodynamic diagram;
adding and calculating the second power value to be checked to obtain a second adding and calculating result;
Judging whether the first addition calculation result is not smaller than the second addition calculation result;
if not, taking the position of the maximum power value as a target position of the maximum energy point;
and if the power is smaller than the power threshold, continuously determining a third azimuth angle and a third pitch angle corresponding to a third maximum value of power in the power thermodynamic diagram until a position with the maximum power and the maximum surrounding power is obtained, and taking the position with the maximum power and the maximum surrounding power as a target position of the maximum energy point.
Further, the standard value is obtained by the following method: and (3) testing the qualified millimeter wave radars by adopting a testing method of the millimeter wave radars, or taking an average value after batch testing of a preset number of radars to be tested by adopting the testing method of the millimeter wave radars.
In a second aspect, an embodiment of the present invention further provides a millimeter wave radar test system, where the millimeter wave radar test system uses the test method of the millimeter wave radar in any one of the first aspect to test a millimeter wave radar to be tested, and the test system includes: and the target reflectors are arranged at different positions and at different angles in the detectable range of the millimeter wave radar to be detected.
Further, the different positions include: the interval between any two target reflectors is not smaller than 3 distance indexes, the difference of the radial distances between any two target reflectors and the millimeter wave radar to be detected is not smaller than 3 distance indexes, and the distance indexes are the distance resolution of the millimeter wave radar to be detected; the different angles include: and all the azimuth angles and pitch angles of the target reflectors cover the design value and 0 degree of the field of view of the millimeter wave radar to be detected.
Further, the method further comprises the following steps: an anechoic chamber;
the millimeter wave radar to be detected and a plurality of target reflectors are arranged in the anechoic chamber, wherein the target reflectors comprise: and a corner reflector.
In an embodiment of the present invention, a method for testing a millimeter wave radar is provided, including: installing a plurality of target reflectors at different positions and at different angles within the detectable range of the fixedly installed millimeter wave radar to be detected, wherein the interference between the gains of the receiving and transmitting antenna links of the millimeter wave radar to be detected receiving different target reflectors is smaller than a preset value; acquiring the receiving and transmitting antenna link gain obtained after the millimeter wave radar to be detected detects each target reflector, and calculating the target receiving and transmitting antenna link gain of each target reflector obtained by the millimeter wave radar to be detected, and the pitch angle and the azimuth angle corresponding to each target reflector according to the receiving and transmitting antenna link gain; and comparing the link gain of the target receiving and transmitting antenna of each target reflector, the pitch angle and the azimuth angle corresponding to each target reflector with standard values to determine whether the millimeter wave radar to be detected is qualified or not. According to the method for testing the millimeter wave radar, disclosed by the invention, a plurality of target reflectors are arranged at different positions and at different angles in the detectable range of the millimeter wave radar to be tested, so that the radio frequency performance (comprising the gains of the transceiver antenna and the view fields) of the millimeter wave radar to be tested under the plurality of angles can be verified at one time without changing the relative positions/angles of the millimeter wave radar to be tested and the target reflectors by using mechanical mechanisms such as a turntable and the like, the testing time is greatly shortened, in addition, the mechanical error caused by rotation of the turntable does not exist, the testing precision is high, and the technical problems of long testing time and poor testing precision of the conventional testing method of the radar are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for testing a millimeter wave radar according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a basic principle of a millimeter wave radar provided by an embodiment of the present invention;
fig. 3 is a schematic diagram of a transmit-receive antenna link gain according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a test system of a millimeter wave radar according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a gain distribution of a transceiver antenna of a target reflector according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a plane wave signal and an M-ary array according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a relationship between a received signal X (t) and a plane wave signal S (t) according to an embodiment of the present invention;
fig. 8 is a power thermodynamic diagram of a millimeter wave radar to be tested according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The existing radar test method has long test time and poor test precision.
Based on the method, in the method for testing the millimeter wave radar, a plurality of target reflectors are arranged at different positions and at different angles in the detectable range of the millimeter wave radar to be tested, so that the radio frequency performance (including the gain of a receiving antenna and the field of view) of the millimeter wave radar to be tested under a plurality of angles can be verified at one time without using mechanical mechanisms such as a turntable and the like to change the relative positions/angles of the millimeter wave radar to be tested and the target reflectors, the testing time is greatly shortened, and in addition, the mechanical error caused by the rotation of the turntable does not exist, and the testing precision is high.
For the sake of understanding the present embodiment, first, a method for testing a millimeter wave radar disclosed in the present embodiment will be described in detail.
Embodiment one:
according to an embodiment of the present invention, there is provided an embodiment of a method of testing a millimeter wave radar, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is shown in the flowchart, in some cases the steps shown or described may be performed in an order different from that shown or described herein.
Fig. 1 is a flowchart of a method for testing a millimeter wave radar according to an embodiment of the present invention, as shown in fig. 1, the method including the steps of:
step S102, installing a plurality of target reflectors at different positions and at different angles in a detectable range of a fixedly installed millimeter wave radar to be detected, wherein interference between the gains of receiving and transmitting antenna links of the millimeter wave radar to be detected receiving different target reflectors is smaller than a preset value;
the above-mentioned fixed mounting means that the millimeter wave radar to be tested is fixed mounted/placed/clamped in the test environment during the test. The detectable range refers to the radial distance between each target reflector and the millimeter wave radar to be detected being within the range of the minimum detection distance and the maximum detection distance of the millimeter wave radar to be detected.
In general, the separation between target reflectors needs to be greater than the range resolution of the millimeter wave radar to be measured. In order to accurately distinguish different targets, the interference between the gains of the transceiving antenna links corresponding to any two target reflectors needs to be smaller than a preset value, and the preset value can be adjusted according to the performance of the millimeter wave radar to be detected and the requirement of the test precision, for example, the preset value can be 0.1dB.
Step S104, obtaining the receiving and transmitting antenna link gain obtained after the millimeter wave radar to be detected detects each target reflector, and calculating the target receiving and transmitting antenna link gain of each target reflector obtained by the millimeter wave radar to be detected, and the pitch angle and the azimuth angle corresponding to each target reflector according to the receiving and transmitting antenna link gain;
the above-mentioned transceiver antenna link gain is shown with reference to fig. 3.
And S106, comparing the link gain of the target receiving and transmitting antenna of each target reflector, the pitch angle and the azimuth angle corresponding to each target reflector with standard values to determine whether the millimeter wave radar to be detected is qualified or not.
Specifically, comparing the link gains of the target receiving and transmitting antennas of the target reflectors with the corresponding standard receiving and transmitting antenna links in the standard values, simultaneously comparing the pitch angle and the azimuth angle corresponding to the target reflectors with the corresponding standard view fields in the standard values, determining whether the difference is larger than the corresponding preset threshold value, and if not, determining that the millimeter wave radar to be detected is qualified; otherwise, determining that the millimeter wave radar to be detected is unqualified.
The standard value is obtained by the following method:
the testing method of the millimeter wave radar (specifically, the steps S102 to S104) is adopted to test qualified millimeter wave radars, or the average value is obtained after a preset number of radars to be tested are tested in batches by the testing method of the millimeter wave radars (specifically, the steps S102 to S104). In addition, the design indexes of the qualified millimeter wave radar and the millimeter wave radar to be detected are the same.
In an embodiment of the present invention, a method for testing a millimeter wave radar is provided, including: installing a plurality of target reflectors at different positions and at different angles within the detectable range of the fixedly installed millimeter wave radar to be detected, wherein the interference between the gains of the receiving and transmitting antenna links of the millimeter wave radar to be detected receiving different target reflectors is smaller than a preset value; acquiring the receiving and transmitting antenna link gain obtained after the millimeter wave radar to be detected detects each target reflector, and calculating the target receiving and transmitting antenna link gain of each target reflector obtained by the millimeter wave radar to be detected, and the pitch angle and the azimuth angle corresponding to each target reflector according to the receiving and transmitting antenna link gain; and comparing the link gain of the target receiving and transmitting antenna of each target reflector, the pitch angle and the azimuth angle corresponding to each target reflector with standard values to determine whether the millimeter wave radar to be detected is qualified or not. According to the method for testing the millimeter wave radar, disclosed by the invention, a plurality of target reflectors are arranged at different positions and at different angles in the detectable range of the millimeter wave radar to be tested, so that the radio frequency performance (comprising the gains of the transceiver antenna and the view fields) of the millimeter wave radar to be tested under the plurality of angles can be verified at one time without changing the relative positions/angles of the millimeter wave radar to be tested and the target reflectors by using mechanical mechanisms such as a turntable and the like, the testing time is greatly shortened, in addition, the mechanical error caused by rotation of the turntable does not exist, the testing precision is high, and the technical problems of long testing time and poor testing precision of the conventional testing method of the radar are solved.
The above-mentioned contents briefly introduce the test method of the millimeter wave radar of the present invention, and the detailed description will be given below with respect to the specific contents.
In an alternative embodiment of the invention, the different positions include: the interval between any two target reflectors is not less than 3 distance indexes, the difference of the radial distances between any two target reflectors and the millimeter wave radar to be detected is not less than 3 distance indexes, and the distance indexes are the distance resolution of the millimeter wave radar to be detected; the different angles include: and the pitch angle and the azimuth angle of all target reflectors cover the design value and 0 degree of the field of view of the millimeter wave radar to be detected.
Specifically, in a test scheme of a plurality of target reflectors, as shown in a schematic diagram of a basic principle of a millimeter wave radar shown in fig. 2 (in which a target reflector is taken as an example for illustration), the millimeter wave radar (n·tx·m·rx virtual antennas) transmits an FMCW (linear frequency modulated pulse) signal through a transmitting antenna, the signal is received by a receiving antenna after being reflected by the target reflector, the transmitting signal and the receiving signal are mixed, and then an intermediate frequency signal is output by a low-pass filter, and the intermediate frequency signal is output by a millimeter wave radar chip after being sampled by an ADC.
The calculation process of the millimeter wave radar chip is as follows: generating a receiving-transmitting antenna link gain by an ADC signal through one-dimensional fast Fourier transform (1 DFFT), wherein fig. 3 is a schematic diagram of the receiving-transmitting antenna link gain generated by a chip of a millimeter wave radar, the millimeter wave radar comprises 4 transmitting antennas and 4 receiving antennas, 16 virtual receiving-transmitting antenna link gains can be generated, the gains correspond to 16 small diagrams in fig. 3, TXnm in the diagrams represents the link gain of an nth transmitting antenna and an mth receiving antenna, and n=1, 2,3 and 4; m=1, 2,3,4. The ordinate of each plot in fig. 3 represents the magnitude of the link gain (in dB), the abscissa represents the sequence number of distance index (distance index/range index) of the millimeter wave radar, each distance index represents a distance of a fixed length (which can be understood as the distance resolution of the millimeter wave radar), and the different distance indexes reflect the distance of the target reflector from the millimeter wave radar. Through experimental verification of the inventor, it can be seen from fig. 3 that the reflected signals of the target reflectors (the signals marked by different rectangular boxes in fig. 3 respectively represent the target reflectors under different distance indexes, one rectangular box represents one target reflector, 3 target reflectors are shown in each small figure, and the reflected signals of each target reflector are distributed under 3 continuous distance indexes) are generally distributed under 3 continuous distance indexes, so, in order to make the link gains of the receiving antennas of the millimeter wave radar to be detected receiving each target reflector not mutually influenced (that is, the interference between the link gains of the receiving antennas of the millimeter wave radar to be detected receiving different target reflectors is smaller than a preset value), the interval between any two target reflectors is required to be satisfied to be not smaller than 3 distance indexes, and the difference of the radial distances between any two target reflectors and the millimeter wave radar to be detected is not smaller than 3 distance indexes.
In addition, in order to measure the link gains and the fields of view of the target receiving and transmitting antennas of the target reflectors located at different angles (namely, the pitch angle and the azimuth angle corresponding to the target reflectors), a combination test of the pitch angle and the azimuth angle is required, and in the field of view design value of the millimeter wave radar to be measured, the FOV of the pitch angle is (- α, α), the FOV of the azimuth angle is (- θ, θ), and 0 degree are assumed, so that the relative positions of the target reflectors and the millimeter wave radar to be measured need to satisfy the FOV (- α, α), the FOV of the azimuth angle (- θ, θ), and 0 degree of the coverage pitch angle of all the target reflectors.
Therefore, as an example, when the plurality of target reflectors are 3 target reflectors, they are placed at the following angles, respectively:
(1) angle of the number target reflector: azimuth angle = θ, pitch angle = α;
(2) angle of the number target reflector: azimuth angle = - θ, pitch angle = - α;
(3) angle of the number target reflector: azimuth = 0 °, pitch = 0 °.
Meanwhile, the radial distances between the 3 target reflectors and the millimeter wave radar to be detected can be respectively set as follows:
(1) radial distance of number target reflector: 5 distance indexes;
(2) radial distance of number target reflector: 9 distance indexes;
(3) Radial distance of number target reflector: 13 distance indexes.
A schematic diagram of specific positions of the millimeter wave radar to be tested and the 3 target reflectors is shown in fig. 4.
As another example, when the plurality of target reflectors are 5 target reflectors, they are placed at the following angles, respectively:
(1) angle of the number target reflector: azimuth angle = θ, pitch angle = 0 °;
(2) angle of the number target reflector: azimuth angle = - θ, pitch angle = 0 °;
(3) angle of the number target reflector: azimuth = 0 °, pitch = α;
(4) angle of the number target reflector: azimuth = 0 °, pitch = α;
(5) angle of the number target reflector: azimuth = 0 °, pitch = 0 °.
In an optional embodiment of the present invention, the target transceiver antenna link gain of each target reflector obtained by detecting the millimeter wave radar to be detected, and the pitch angle and the azimuth angle corresponding to each target reflector are calculated according to the transceiver antenna link gain, and specifically include the following steps:
(1) Extracting the target receiving and transmitting antenna link gain of the corresponding target reflector from the receiving and transmitting antenna link gain corresponding to each target reflector according to the physical position of each target reflector;
the method specifically comprises the following steps:
(11) Determining an initial receiving-transmitting antenna link gain from the receiving-transmitting antenna link gains according to the physical position of the current target reflector, wherein the current target reflector is obtained by traversing the target reflector, and the initial receiving-transmitting antenna link gain is the receiving-transmitting antenna link gain corresponding to the physical position of the current target reflector;
specifically, as shown in fig. 5, when the plurality of target reflectors are 3 target reflectors, traversing the 3 target reflectors, wherein (1) the radial distance of the target reflector is 5 distance indexes, so as to obtain (1) the initial transmit-receive antenna link gains of the target reflector are gains distributed in range index (i.e., distance indexes) =4, 5,6 (i.e., transmit-receive antenna link gains, abbreviated as gains); (2) the radial distance of the number target reflector is 9 distance indexes, so that the initial receiving and transmitting antenna link gains of the number target reflector (2) are gains distributed in range index=8, 9 and 10; (3) the radial distance of the target reflector is 13 distance indexes, so that the initial receiving and transmitting antenna link gains of the target reflector (3) are gains distributed in range index=12, 13 and 14;
(12) Determining the receiving-transmitting antenna link gain of the current target reflector under each distance index according to the initial receiving-transmitting antenna link gain;
(13) And taking the maximum receiving and transmitting antenna link gain in the receiving and transmitting antenna link gains under each distance index as the target receiving and transmitting antenna link gain of the current target reflector, thereby obtaining the target receiving and transmitting antenna link gain of each target reflector.
Further, for the accuracy of the test, the maximum transceiver antenna link gain may be taken from among 3 consecutive distance indexes of the reflected signal (i.e., the initial transceiver antenna link gain) distribution. Explanation is made here: as shown in fig. 5, the gains of the transceiver antenna links of one current target reflector are distributed in a plurality of distance indexes, wherein the distance index with the largest gain is generally located at the center position of the plurality of distance indexes, and the gains of the surrounding distance indexes gradually decrease with the distance from the center position. In an ideal case, the gain will decay to zero at 2-3 distance indices away from the center position. Using fig. 5 as an example: for target reflector (1), the gain distribution is at range index (i.e., distance index) =4, 5,6, the gain decays to 0 at range index=7 (or the gain is very small at range index=7). There may be special cases where the transceiver antenna link gain may spread to more distant index. In order to reduce interference from adjacent target reflectors, only the transceiver antenna link gain of the range index having the transceiver antenna link gain of the current target reflector located at the center range index is taken to correspond to the maximum transceiver antenna link gain.
(2) And carrying out spatial filtering on the link gains of the receiving and transmitting antennas to obtain a filtered signal, determining a target position of an energy maximum point according to the filtered signal, and taking a pitch angle and an azimuth angle corresponding to the target position as a pitch angle and an azimuth angle corresponding to a target reflector.
The specific process of spatial filtering comprises the following steps:
(21) Calculating the weight of each direction of the link gain of each receiving and transmitting antenna by adopting a radar arrival angle estimation algorithm;
(22) And carrying out weighted calculation on each receiving and transmitting antenna link gain and the weight of each direction of the corresponding receiving and transmitting antenna link gain to obtain a filtered signal.
Specifically, a radar arrival angle estimation algorithm (for example, a DBF algorithm, a Capon algorithm or a Music algorithm) is adopted to calculate the weight of each receiving and transmitting antenna link gain (namely, a digital beam, which can be understood as that each receiving and transmitting antenna link gain corresponds to one digital beam) in each direction, and digital beam weighting and superposition are performed according to the weights, so as to obtain a filtered signal.
The specific process of determining the target position of the energy maximum point comprises the following steps:
(23) Determining output power from the filtered signal;
(24) Carrying out minimized solution on the output power to obtain power values of the reflected signals under different angles, and further obtaining a power thermodynamic diagram;
(25) Determining a first azimuth angle and a first pitch angle corresponding to a maximum power value in the power thermodynamic diagram, and determining a first power value to be checked in a preset range taking the first azimuth angle and the first pitch angle as the center in the power thermodynamic diagram;
(26) Adding and calculating a first power value to be checked to obtain a first adding and calculating result;
(27) Determining a second azimuth angle and a second pitch angle corresponding to a second maximum value of power in the power thermodynamic diagram, and determining a second power value to be checked in a preset range taking the second azimuth angle and the second pitch angle as the center in the power thermodynamic diagram;
(28) Adding and calculating a second power value to be checked to obtain a second adding and calculating result;
(29) Judging whether the first addition calculation result is not smaller than the second addition calculation result;
(30) If not, taking the position of the maximum power as the target position of the maximum energy point;
(31) If the power is smaller than the first maximum value, continuously determining a third azimuth angle and a third pitch angle corresponding to the third maximum value of the power in the power thermodynamic diagram until a position with the maximum power and the maximum surrounding power is obtained, and taking the position with the maximum power and the maximum surrounding power as a target position of an energy maximum point.
The entire process is described in detail below with specific examples:
a Rhine model radar from callterrah company is used as the millimeter wave radar to be measured. The millimeter wave radar to be detected comprises 4 transmitting antennas and 4 receiving antennas, 25 distance indexes are shared, the interval between the two distance indexes is 8cm, and the maximum detection distance is 2m. (the distance index of the millimeter wave radar to be detected is well configured by firmware in the millimeter wave radar to be detected and is a known parameter), and in the field of view design value of the millimeter wave radar to be detected, the pitch angle is (30 degrees, -30 degrees), and the azimuth angle is (50 degrees, -50 degrees).
And installing a plurality of target reflectors at different positions and at different angles in the detectable range of the fixedly installed millimeter wave radar to be detected. Specifically, three target reflectors (which can be three corner reflectors with right angles and side lengths of 55 mm) are selected, and the numbers are respectively (1), (2) and (3); the No. 1 corner reflector is arranged at a radial distance of 32cm from the millimeter wave radar to be detected, and is arranged at an azimuth angle of 50 degrees and a pitch angle of 30 degrees of the millimeter wave radar to be detected; (2) the horn reflector is arranged at a radial distance of 64cm from the millimeter wave radar to be measured, and is arranged in the azimuth angle-50 DEG and pitch angle-30 DEG direction of the millimeter wave radar to be measured; (3) the horn reflector is placed at a radial distance of 96cm from the millimeter wave radar to be detected, and is positioned at a pitch angle of 0 degree in the azimuth angle of the millimeter wave radar to be detected.
And acquiring the receiving-transmitting antenna link gain of each target reflector detected by the millimeter wave radar to be detected, and extracting the target receiving-transmitting antenna link gain of the corresponding target reflector from the corresponding receiving-transmitting antenna link gain according to the physical position of each target reflector.
Specifically, since the millimeter wave radar to be detected includes 4 transmitting antennas and 4 receiving antennas, 16 link gain data can be generated, and each link gain data is a discrete function with a distance index as an independent variable and a signal gain as a dependent variable.
By applying the link gain extraction method, the link gains of the radar to be detected relative to different corner reflectors are obtained as follows:
(1) the link gain value corresponding to the horn reflector is: [12.96, 13.58, 13.88, 12.61, 14.65, 14.71, 15.04, 15.28, 11.93, 11.04, 11.71, 12.81, 11.30, 11.89, 11.83, 11.45];
(2) the corresponding link gain values of the corner reflectors are [12.42, 12.45, 10.91,9.93, 12.98, 12.82, 12.08,9.47, 12.61, 11.04,8.74, 10.03, 13.49, 13.83, 12.36, 10.69];
(3) the number corner reflectors have corresponding link gain values of [15.74, 14.34, 14.06, 14.74, 16.00, 15.94, 14.80, 16.31, 16.06, 15.00, 15.17, 16.05, 15.43, 14.77, 15.39, 15.07].
And carrying out spatial filtering on the link gains of the receiving and transmitting antennas to obtain a filtered signal, determining a target position of an energy maximum point according to the filtered signal, and taking a pitch angle and an azimuth angle corresponding to the target position as a pitch angle and an azimuth angle corresponding to a target reflector.
Specifically, the FOV (i.e., the pitch angle and azimuth angle corresponding to the target reflector) is calculated as follows:
fig. 6 illustrates a radar antenna array (i.e., M receiving antennas) of M array elements (M is the number of receiving antennas of the millimeter wave radar to be measured), K (the same number as the corner reflectors) plane wave signals (the distance between the corner reflector and the millimeter wave radar to be measured needs to satisfy the far field condition of the signals, and at this time, the signals received by the millimeter wave radar to be measured are plane wave signals) as follows: s (t) = [ S ] 1 (t)，s 2 (t)，…，s K (t)] T At an angle of theta respectively 1 ，θ 2 ，…，θ k Incident on the antenna array element, the received signal (i.e. the transmit-receive antenna link gain) is: x (t) = [ X ] 1 (t)，x 2 (t)，…，x M (t)] T The received signals of each array element are weighted and calculated by using a Capon algorithm to obtain weight vectors as follows: w= [ W ] 1 ，w 2 ，…，w M ] T The output signal from the array after the weighting calculation (i.e., the filtered signal, the calculation may be performed by a computer program) is: y (t) =w H ·X(t)。
Referring to fig. 7 (ULA (M antennas) in fig. 7), ULA means a uniform linear array; M represents the number of array elements), with reference to the first array element (i.e. the first receiving antenna), the incoming signal in each direction (i.e. the plane wave signal) arrives at each array element (i.e. the receiving antenna) with a delay:
The received phase difference of the two array elements is as follows:
receiving signal x of mth array element at t moment m (t) is expressed as:
wherein n is m (t) is noise of the mth array element, and the relationship between the received signal X (t) and the plane wave signal S (t) is:
X(t)＝[a(θ 1 )，a(θ 1 )，…a(θ K ))]·S(t)+N(t)。
a(θ i ) The steering vector, denoted as the angle of incidence θ, reflects the phase difference/delay of the signal to the different antennas.
The output power can be divided into three parts: desired signal power, interference signal power, noise power (desired signal is the signal of the target angle we wish to obtain; interference signal is the signal of the non-target angle; noise signal is the system noise and ambient noise signal). For ease of representation, the symbols are changed in some ways:
X(t)＝[a(θ d )，a(θ 1 )，…，a(θ J )]·S(t)+N(t)
wherein θ d For a desired angle, θ 1 ，…，θ J Is the interference angle (angle of incoming wave of interference signal).
The output power is then:
P(W)＝E[Y(t)·Y H (t)]＝W H ·E[X(t)·X H (t)]·W＝W H ·R·W
where R represents the autocorrelation matrix of the received signal.
Expanding X (t), the output power can be expressed as:
from the above formula, it can be seen that: we want to preserve the desired signal power and make the signal undistorted: w (W) H a(θ d ) =1, reducing the interference signal and noise power as much as possible, i.e. minimizing the output power minW H R.W to improve the signal-to-noise ratio (SINR).
Solving the upper problem by using a Lagrange multiplier method, wherein the Lagrange function is as follows:
L(W,λ)＝W H ·R·W+λ(W H a(θ d )-1)
Solving the partial derivative of W for the Lagrangian function, and enabling the partial derivative to be zero to obtain the solution of the weight vector as follows:
yielding a power spectrum estimate:
from the above derivation, the power values of the signals at different angles (here the angle is θ in the above formula d ) Further, a power thermodynamic diagram is obtained.
Fig. 8 is a power thermodynamic diagram of a millimeter wave radar to be measured, which includes 15 sub-power thermodynamic diagrams, and different sub-power thermodynamic diagrams represent the power of signals at different radial distances, for example: sub-power thermodynamic diagram 1 represents power distribution at different angles from the 24cm position of the millimeter wave radar to be measured, sub-power thermodynamic diagram 2 represents power distribution at different angles from the 32cm position of the millimeter wave radar to be measured, and sub-power thermodynamic diagrams of adjacent serial numbers are 8cm apart (i.e., the interval between the two preceding distance indexes) in radial distance and are sequentially increased.
Each sub-power thermodynamic diagram consists of a 25 x 25 two-dimensional matrix, each row of the matrix representing a different pitch angle, and each column of the matrix representing a different azimuth angle, the angular scan interval in this algorithm (i.e., the Capon algorithm described above) being 5 ° and the angular scan being in the range (-60 °), so that 25 angular intervals can be formed in both azimuth and pitch angles.
(1) The number corner reflector is positioned in the azimuth angle of 50 degrees and the pitch angle of 30 degrees, the number (2) corner reflector is positioned in the azimuth angle of-50 degrees and the pitch angle of-30 degrees, and the number (3) corner reflector is positioned in the azimuth angle of 0 degrees and the pitch angle of 0 degree. As can be known from the radial distance of the millimeter wave radar to be measured of the distance of each corner reflector, the sub-power thermodynamic diagram (1, 2, 3) reflects the power distribution of the corner reflector (1) (i.e., the target (1) in fig. 7); the sub-power thermodynamic diagram (5, 6, 7) reflects the power distribution of the corner reflector No. 2 (i.e., target (2) in fig. 7); the sub-power thermodynamic diagrams (9, 10, 11) reflect the power distribution of the corner reflector No. (3) (i.e., target (3) in fig. 7).
Although the magnitude of the power in the power thermodynamic diagram approximately reflects the angle condition of different corner reflectors, the corner reflectors themselves have a certain volume, and cannot be regarded as ideal point sources in practical test, so in the power thermodynamic diagram, the power distribution is in a range, the pitch angle exists within a 45-degree (9 square grids are displayed in the power thermodynamic diagram), the azimuth angle exists within a 25-degree (5 square grids are displayed in the power thermodynamic diagram), and according to experimental verification, the signal power (namely energy) corresponding to the center point of the angle range is the largest.
In order to accurately judge the angle of the corner reflector, a maximum value search algorithm is employed.
Firstly, searching azimuth angle and pitch angle corresponding to maximum power in 3 sub-power thermodynamic diagrams, taking the angle as the center, transversely taking energy (namely power) in a range of 45 degrees, longitudinally taking energy in a range of 25 degrees, taking power values of 45 points in each sub-power thermodynamic diagram, taking power values of 135 points in total, adding the obtained power values to obtain total power of the corner reflector, and recording as P max1 The method comprises the steps of carrying out a first treatment on the surface of the Then, in the same manner, the azimuth and the pitch corresponding to the second largest value of power in the 3 sub-power thermodynamic diagrams are searchedElevation angle, and calculating the total power of its surrounding signals in the same manner, denoted as P max2 The method comprises the steps of carrying out a first treatment on the surface of the Comparison P max1 And P max2 If P is the size of max1 P is greater than or equal to max2 Taking a pitch angle and an azimuth angle corresponding to the maximum power value; if P max1 Less than P max2 And continuing to search the azimuth angle and the pitch angle corresponding to the third maximum value of the power downwards until the pitch angle and the azimuth angle corresponding to the point are found out, so that the maximum power is met and the maximum surrounding power is met. The pitch angle and the azimuth angle corresponding to the point are determined as the pitch angle and the azimuth angle corresponding to the corner reflector.
The testing method of the millimeter wave radar has the following advantages:
(1) Setting the position and angle of target reflectors according to the design indexes of the millimeter wave radar to be tested in a test field, wherein each target reflector fuses multidimensional information, so that the measurement/verification of the radio frequency performance of the millimeter wave radar to be tested under a plurality of angles can be completed at one time, and the measurement time is greatly reduced compared with that of the traditional test method;
(2) The millimeter wave radar fixed measurement that awaits measuring (the millimeter wave radar that awaits measuring keeps motionless during the measurement) is adopted in this scheme, compares in the rotatory measurement mode of being surveyed the piece of tradition use revolving stage, and this scheme convenient operation, test hardware is succinct, does not have the mechanical error that causes because the revolving stage rotates. The whole system has low construction cost, high cost performance and high system reliability and stability.
Embodiment two:
the embodiment of the invention also provides a system for testing the millimeter wave radar, referring to fig. 4, the system for testing the millimeter wave radar adopts the method for testing the millimeter wave radar in the first embodiment to test the millimeter wave radar to be tested, and the system for testing the millimeter wave radar comprises: and the plurality of target reflectors are arranged at different positions and at different angles in the detectable range of the millimeter wave radar to be detected.
Optionally, the different locations include: the interval between any two target reflectors is not less than 3 distance indexes, the difference of the radial distances between any two target reflectors and the millimeter wave radar to be detected is not less than 3 distance indexes, and the distance indexes are the distance resolution of the millimeter wave radar to be detected; the different angles include: and the azimuth angles and the pitch angles of all target reflectors cover the field of view design value and 0 degree of the millimeter wave radar to be detected.
Optionally, the method further comprises: an anechoic chamber;
the millimeter wave radar to be measured and a plurality of target reflectors are arranged in the anechoic chamber, wherein the target reflectors comprise: and a corner reflector.
In addition, in the description of embodiments of the present invention, unless explicitly stated and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (11)
1. A method for testing a millimeter wave radar, comprising:
installing a plurality of target reflectors at different positions and at different angles within a detectable range of a fixedly installed millimeter wave radar to be detected, wherein interference between the gains of receiving and transmitting antenna links of the different target reflectors received by the millimeter wave radar to be detected is smaller than a preset value;
acquiring a receiving and transmitting antenna link gain obtained after the millimeter wave radar to be detected detects each target reflector, and calculating the target receiving and transmitting antenna link gain of each target reflector obtained by the millimeter wave radar to be detected, and a pitch angle and an azimuth angle corresponding to each target reflector according to the receiving and transmitting antenna link gain;
and comparing the link gain of the target receiving and transmitting antenna of each target reflector, the pitch angle and the azimuth angle corresponding to each target reflector with standard values to determine whether the millimeter wave radar to be detected is qualified or not.
2. The method of testing according to claim 1, wherein the different locations comprise: the distance between any two target reflectors is not smaller than 3 distance indexes, the difference of the radial distances between any two target reflectors and the millimeter wave radar to be detected is not smaller than 3 distance indexes, and the distance indexes are the distance resolution of the millimeter wave radar to be detected.
3. The method of testing according to claim 1, wherein the different angles comprise: and all the pitch angles and azimuth angles of the target reflectors cover the design value and 0 degree of the field of view of the millimeter wave radar to be detected.
4. The test method according to claim 1, wherein calculating, according to the transceiver antenna link gain, a target transceiver antenna link gain of each target reflector detected by the millimeter wave radar to be tested, a pitch angle and an azimuth angle corresponding to each target reflector, includes:
extracting a target receiving and transmitting antenna link gain of a corresponding target reflector from the receiving and transmitting antenna link gains corresponding to the target reflector according to the physical position of each target reflector;
and carrying out spatial filtering on the link gains of the receiving and transmitting antennas to obtain filtered signals, determining a target position of an energy maximum point according to the filtered signals, and taking a pitch angle and an azimuth angle corresponding to the target position as a pitch angle and an azimuth angle corresponding to the target reflector.
5. The method according to claim 4, wherein extracting the target transceiver antenna link gain of each target reflector from the transceiver antenna link gains corresponding thereto according to the physical position of each target reflector, comprises:
Determining an initial receiving-transmitting antenna link gain from the receiving-transmitting antenna link gain according to the physical position of a current target reflector, wherein the current target reflector is obtained by traversing the target reflector, and the initial receiving-transmitting antenna link gain is the receiving-transmitting antenna link gain corresponding to the current target reflector;
determining the receiving-transmitting antenna link gain of the current target reflector under each distance index according to the initial receiving-transmitting antenna link gain;
and taking the maximum receiving and transmitting antenna link gain in the receiving and transmitting antenna link gains under each distance index as the target receiving and transmitting antenna link gain of the current target reflector, and further obtaining the target receiving and transmitting antenna link gain of each target reflector.
6. The method of testing as defined in claim 4, wherein spatially filtering each of the transceiver antenna link gains comprises:
calculating the weight of each direction of the link gain of each receiving and transmitting antenna by adopting a radar arrival angle estimation algorithm;
and carrying out weighted calculation on each receiving and transmitting antenna link gain and the weight of each direction of the corresponding receiving and transmitting antenna link gain to obtain the filtered signal.
7. The method of testing according to claim 4, wherein determining the target location of the energy maximum point from the filtered signal comprises:
determining output power according to the filtered signal;
carrying out minimum solution on the output power to obtain power values of the reflected signals under different angles, and further obtaining a power thermodynamic diagram;
determining a first azimuth angle and a first pitch angle corresponding to a power maximum value in the power thermodynamic diagram, and determining a first power value to be checked in a preset range taking the first azimuth angle and the first pitch angle as the center in the power thermodynamic diagram;
adding and calculating the first power value to be checked to obtain a first adding and calculating result;
determining a second azimuth angle and a second pitch angle corresponding to a second maximum value of power in the power thermodynamic diagram, and determining a second power value to be checked in a preset range centering on the second azimuth angle and the second pitch angle in the power thermodynamic diagram;
adding and calculating the second power value to be checked to obtain a second adding and calculating result;
judging whether the first addition calculation result is not smaller than the second addition calculation result;
If not, taking the position of the maximum power value as a target position of the maximum energy point;
and if the power is smaller than the power threshold, continuously determining a third azimuth angle and a third pitch angle corresponding to a third maximum value of power in the power thermodynamic diagram until a position with the maximum power and the maximum surrounding power is obtained, and taking the position with the maximum power and the maximum surrounding power as a target position of the maximum energy point.
8. The test method according to claim 1, wherein the standard value is obtained by:
the method for testing the millimeter wave radar according to claim 1 is used for testing qualified millimeter wave radars, or the method for testing the millimeter wave radars according to claim 1 is used for batch testing of a preset number of radars to be tested and then averaging is carried out.
9. A millimeter wave radar test system, characterized in that the millimeter wave radar test system tests a millimeter wave radar to be tested by the millimeter wave radar test method according to any one of claims 1 to 8, the test system comprising: and the target reflectors are arranged at different positions and at different angles in the detectable range of the millimeter wave radar to be detected.
10. The test system of claim 9, wherein the different locations comprise: the interval between any two target reflectors is not smaller than 3 distance indexes, the difference of the radial distances between any two target reflectors and the millimeter wave radar to be detected is not smaller than 3 distance indexes, and the distance indexes are the distance resolution of the millimeter wave radar to be detected; the different angles include: and all the azimuth angles and pitch angles of the target reflectors cover the design value and 0 degree of the field of view of the millimeter wave radar to be detected.
11. The test system of claim 9, further comprising: an anechoic chamber;
the millimeter wave radar to be detected and a plurality of target reflectors are arranged in the anechoic chamber, wherein the target reflectors comprise: and a corner reflector.
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