Method and apparatus for calibrating azimuth boresight in a radar system

• US 5,977,906 A
• Filed: 09/24/1998
• Issued: 11/02/1999
• Est. Priority Date: 09/24/1998
• Status: Expired due to Term

• Current Assignee: Bendix Commercial Vehicle Systems LLC (Estate of Heinz Hermann Thiele)
• Original Assignee: Eaton Vorad Technologies, LLC
• Inventors: Ameen, Yashwant K., Ryan, Patrick Anthony
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): PHAN, DAO LINDA
• Application Number:
  US09/160,517
• Time in Patent Office: 404 Days
• Field of Search: 342/70, 342/165, 342/174, 342/368
• US Class Current: 342/174
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93275 in the bumper area
• CPC Class Codes: G01S 7/4026 Antenna boresight
• CPC Class Codes: G01S 7/403 in azimuth, i.e. in the horizontal plane
• CPC Class Codes: G01S 7/4091 during normal radar operation

Abstract

A method and apparatus for calibrating azimuth boresight in a radar system. Antenna boresight misalignment can cause radar systems to inaccurately determine the position of targets relative to a platform vehicle. These errors can be corrected by detecting and accurately measuring a boresight offset angle defined as the angle between the radar antenna boresight and the direction of travel of the host platform vehicle. Several antenna boresight calibration techniques are described. A first technique calculates the boresight offset angle by obtaining target range and azimuth angle measurements at two instants in time. The boresight offset angle is determined by the geometric relationship of the offset angle, target range and azimuth values obtained at two successive time instants. A refined approach obtains target range and azimuth values at several successive time instants, calculating interim boresight offset angles at each time instant. The boresight offset angle is computed by averaging the interim boresight offset angles. In second and third calibration techniques, the boresight offset angle is estimated from the azimuth of qualified calibration targets that are substantially aligned with the host vehicle'"'"'s heading. Several restrictions are imposed upon the potential calibration targets to suppress the erroneous qualification of adjacent vehicle traffic. In accordance with one embodiment of the present invention, the calibration techniques are implemented by software instructions executed by a microprocessor within the radar system. Once the boresight offset angle is detected and calculated, it can be used to calibrate the antenna boresight using either a mathematical or physical calibration approach.

Claims

1. A method of calibrating a boresight of a radar antenna in a radar system, comprising the steps of:

a) selecting a calibration target for use in calibrating the antenna boresight;

b) obtaining an initial measurement of the target range and azimuth angle at a first time instance;

c) obtaining a subsequent measurement of the target range and azimuth angle at a second time instance;

d) calculating a boresight offset angle α

using the initial and subsequent target range and azimuth angle measurements; and

e) calibrating the antenna boresight to compensate for the boresight offset angle calculated in step (d).

2. The method of calibrating an antenna boresight of claim 1, wherein the calibration targets are selected in step (a) based upon pre-determined criteria necessary to qualify a target for calibration purposes.

3. The method of calibrating an antenna boresight of claim 2, wherein the qualifying criteria include a minimum target range for the selected target.

4. The method of calibrating an antenna boresight of claim 2, wherein the qualifying criteria include a minimum reflected signal magnitude for the target.

5. The method of calibrating an antenna boresight of claim 1, wherein the boresight offset angle α

is calculated in accordance with the following equation;

##EQU14## wherein ##EQU15## and wherein β

_n+1 comprises the target azimuth angle obtained during the second time instance;

β

_n comprises the target azimuth angle obtained during the first time instance;

R_n+1 comprises the target range obtained during the second time instance; and

R_n comprises the target range obtained during the first time instance.

6. The method of calibrating an antenna boresight of claim 1, wherein the calibrating step (e) comprises physically moving the radar antenna an angular distance equal to the boresight offset angle calculated in step (d).

7. The method of calibrating an antenna boresight of claim 1, wherein the calibrating step (e) comprises mathematically compensating for the boresight offset angle calculated in step (d).

8. The method of claim 7, wherein the calibrating step (e) comprises adding the boresight offset angle calculated in step (d) to all target azimuth angles detected by the radar system.

9. A method of calibrating a boresight of a radar antenna in a radar system, comprising the steps of:

a) selecting a calibration target for use in calibrating the antenna boresight;

b) obtaining an initial measurement of the selected calibration target'"'"'s range and azimuth angle at a first time instance;

c) obtaining subsequent measurements of the selected calibration target'"'"'s range and azimuth angle at successive time instances subsequent to the first time instance;

d) calculating a boresight offset angle α

using the initial and subsequent target range and azimuth angle measurements; and

e) calibrating the antenna boresight to compensate for the boresight offset angle calculated in step (d).

10. The method of claim 9, wherein the boresight offset angle is calculated in step (d) by calculating interim boresight offset angles at each successive time instance of step (c), summing the interim boresight offset angles together, and finding the average of the interim boresight offset angles by dividing the sum by the number of successive time instances.

11. The method of claim 10, wherein the interim boresight offset angles a at each time instance i is computed in accordance with the following equation:

##EQU16## and wherein i comprises integrals ranging from 1 to the total number of time successive instances used in step (c).

12. A method of calibrating a boresight of a radar antenna in a vehicular radar system, wherein the radar system is deployed on a host vehicle, and wherein the host vehicle travels upon a road and has a known heading, comprising the steps of:

a) selecting a qualified calibration target vehicle that is substantially aligned with the host vehicle'"'"'s heading for use in calibrating the antenna boresight;

b) obtaining an initial measurement of the calibration target azimuth angle at a first time instance;

c) obtaining a subsequent measurement of the calibration target azimuth angle at a second time instance;

d) estimating a boresight offset angle α

based upon the initial and subsequent calibration target azimuth angle measurements; and

e) calibrating the antenna boresight to compensate for the boresight offset angle calculated in step (d).

13. The method of calibrating an antenna boresight of claim 12, wherein the boresight offset angle α

is estimated by averaging the calibration target azimuth angle obtained during steps (b) and (c).

14. A method of calibrating a boresight of a radar antenna in a vehicular radar system, wherein the radar system is deployed on a host vehicle, and wherein the host vehicle travels upon a road and has a known heading, comprising the steps of:

a) selecting a qualified calibration target vehicle that is substantially aligned with the host vehicle'"'"'s heading for use in calibrating the antenna boresight;

b) obtaining an initial measurement of the calibration target azimuth angle at a first time instance;

c) obtaining subsequent measurements of the calibration target azimuth angle at successive time instances subsequent to the first time instance;

d) estimating a boresight offset angle α

based upon the initial and subsequent calibration target azimuth angle measurements; and

e) calibrating the antenna boresight to compensate for the boresight offset angle estimated in step (d).

15. The method of claim 14, wherein step (c) comprises obtaining N subsequent measurements at N successive time instances subsequent to the first instance.

16. The method of claim 15, further comprising the step of determining an absolute value of a difference between the calibration target azimuth angles measured at N and N-1 successive time instances, and abandoning the calibration method whenever the absolute value of the difference exceeds a pre-defined safety threshold.

17. The method of claim 16, wherein the safety threshold is approximately 0.5 degrees.

18. The method of claim 14, wherein the estimating step (d) comprises averaging the initial and subsequent calibration target azimuth angle measurements.

19. The method of claim 14, wherein a calibration target is selected in step (a) based upon predetermined criteria necessary to qualify a target for calibration purposes.

20. The method of claim 19, wherein the criteria necessary to qualify a target for calibration purposes includes a requirement that the target be within a pre-determined detection range of the antenna.

21. The method of claim 19, wherein the criteria necessary to qualify a target for calibration purposes includes a requirement that the target has a non-zero velocity relative to the host vehicle.

22. The method of claim 21, wherein the non-zero velocity relative to the host vehicle falls within a pre-determined velocity range.

23. The method of claim 19, wherein the criteria necessary to qualify a target for calibration purposes includes a requirement that signals reflected back to the antenna from the target have a magnitude that exceeds a pre-determined signal strength threshold.

24. The method of claim 14, wherein adjacent vehicle traffic is suppressed from being erroneously selected in step (a) as a qualified calibration target by imposing pr-determined restrictions upon the selection of a target in order to qualify the target for calibration purposes.

25. The method of claim 24, wherein the pre-determined restrictions include the requirement that the target meet minimum thresholds for signal magnitude, radar-cross-section, and signal-to-noise ratio.

26. The method of claim 24, wherein the pre-determined restrictions include the requirement that the target and the host vehicle are loosely speed-matched.

27. The method of claim 24, wherein the pre-determined restrictions include the requirement that the host vehicle have a velocity exceeding a pre-determined threshold.

28. The method of claim 24, wherein the pre-determined restrictions include the requirement that the host vehicle have a turn rate below a pre-determined threshold.

29. The method of claim 28, wherein the host vehicle turn rate threshold is approximately 1/2 degree/second.

30. An apparatus for calibrating an antenna boresight in a radar system, comprising:

a) means for selecting a calibration target for use in calibrating the antenna boresight;

b) means, responsive to the selecting means, for obtaining an initial measurement of the target range and azimuth angle at a first time instance;

c) means, responsive to the selecting means, for obtaining subsequent measurements of the target range and azimuth angle at successive time instances subsequent to the first time instance;

d) means, responsive to the obtaining means, for calculating a boresight offset angle α

using the initial and subsequent target range and azimuth angle measurements; and

e) means, for calibrating the antenna boresight to compensate for the calculated boresight offset angle.

31. The calibration apparatus of claim 30, wherein the means for obtaining target range and azimuth angle measurements comprises a radar system.

32. The calibration apparatus of claim 31, wherein the radar system comprises a monopulse radar system.

33. An apparatus for calibrating a boresight of a radar antenna for use in a vehicular radar system, wherein the radar system is deployed on a host vehicle, and wherein the host vehicle travels upon a road and has a known heading, comprising:

a) means for selecting a qualified calibration target that is substantially aligned with the host vehicle'"'"'s heading for use in calibrating the antenna boresight;

b) means, responsive to the selecting means, for obtaining an initial measurement of the calibration target azimuth angle at a first time instance;

c) means, responsive to the selecting means, for obtaining subsequent measurements of the calibration target azimuth angle at successive time instances subsequent to the first time instance;

d) means, responsive to the obtaining means, for estimating a boresight offset angle α

based upon the initial and subsequent calibration target azimuth angle measurements; and

e) means, for calibrating the antenna boresight to compensate for the estimated boresight offset angle.

34. The calibration apparatus of claim 33, wherein the means for obtaining azimuth angle measurements comprises a radar system.

35. The calibration apparatus of claim 34, wherein the radar system comprises a monopulse radar system.

36. A computer program executable on a general purpose computing device, wherein the program is capable of calibrating a boresight of a radar antenna in a radar system, comprising:

a) a first set of instructions for selecting a calibration target for use in calibrating the antenna boresight;

b) a second set of instructions for obtaining an initial measurement of the calibration target'"'"'s range and azimuth angle at a first time instance;

c) a third set of instructions for obtaining subsequent measurements of the calibration target'"'"'s range and azimuth angle at successive time instances subsequent to the first time instance;

d) a fourth set of instructions for calculating a boresight offset angle α

using the initial and subsequent target range and azimuth angle measurements; and

e) a fifth set of instructions for calibrating the antenna boresight to compensate for the calculated boresight offset angle.

37. The computer program of claim 36, wherein the program is executed by a general purpose computing device in the radar system.

38. The computer program of claim 36, wherein the program is executed by a field programmable gate array device.

39. A method of calibrating a boresight of a radar antenna in a vehicular radar system, wherein the radar system is deployed on a host vehicle, and wherein the radar system is capable of obtaining target azimuth angle measurements from targets detected by the radar antenna, and wherein the radar system maintains an azimuth angle 5 histogram, the histogram having a plurality of bins associated and corresponding to a set of discrete target azimuth angles, comprising the steps of:

a) initializing an azimuth histogram such that each azimuth angle bin is set to zero, except that a bin associated with a zero degree target azimuth angle is set to a pre-determined maximum histogram count;

b) receiving target data and obtaining a target azimuth angle measurement;

c) qualifying the azimuth angle measurement obtained at step (b);

d) if the azimuth angle measurement qualifies, adding a count to the target azimuth angle bin corresponding to the qualified azimuth angle measurement;

e) determining whether the histogram contains a pre-determined maximum number of counts;

f) returning to step (b) if the histogram does not contain the maximum number of counts, otherwise, determining the antenna boresight offset angle from the azimuth angle bin having the highest number of counts; and

g) calibrating the antenna boresight using the boresight offset angle determined in step (f).