1. The Part List of 24GHz Mono-Pulse FMCW Radar

Transcription

1 1. The Part List of 24GHz Mono-Pulse FMCW Radar 24GHz Mono-Pulse FMCW Radar Photo Basic Parts (All in 1 unit) Radar Front-end Radar Back-end DC Unit Cables 24GHz Mono-Pulse FMCW Front-End (3 or 5 antennas) DSP Unit (Ethernet and 7Pin I/O port without Cable) 9~12V/2A to all DC supplies for radar DC Cable (not shown in above photo) Optional Parts Radar Map Code CD FMCW radar map code Customer Parts 9~12V/2A DC Supply Or vehicle battery (12+/-2VDC) Data Receive up-link Unit Under UDP agreement (not require if purchase map code) If purchase radar map code Radar Map Code Platform Matlab V7.0 Host PC Operating System Windows XP Processor Pentium 4 2.0G or better Memory 2GB or better Page 1 of 25

2 2. Application Fields This radar is typical used to detect multi vehicle from 3m to 200m or human up to 65m. It can detect both moving and static targets. The range resolution is less than 1m (default is 0.75m). There are three patch array antennas connected to TX, and 2CH RX. 3dB beam width of each antenna is the same of 16X6.8 degrees. 2 CH RXs are used to detect azimuth angle with 0.2 to 0.5- degree resolution. The azimuth angle coverage is no less than 15-degrees. Most Road width is from 12.5feet (3.8m) to 14feet (4.3m). When radar is set at center of host lane, the width coverage is varied with target distance. That is one-lane coverage distance is from 3m to 15m. three-lanes coverage distance is from 15 to 45m, and 5-lanes coverage range is from 45m to 75m. Fig 1(a) is typical azimuth angle coverage, which shows detect lane number with distance. Fig 1(a): Typical azimuth angle coverage with target distance Because antenna beam coverage, target 1 and 4 shown in Fig 1(a) are not detected by radar ( outside radar beam coverage). Target 6 is not detected by radar because radar beam is blocked by target 3. Radar will detect target 2, 3 and 5. It may see target 7 dependent on target size. Page 2 of 25

3 It is required that end-user assemble radar careful with angle. Fig 1(b) shows radar beam coverage when radar plane has tipped half beam width (8degree) with host vehicle. The detect area is shifted, and test resulted is not completely meet demanded. Fig 1(b): Radar azimuth tip problem It is also important let radar beam in elevation is parallel to GND. It only has 6.4degree. 3 degree tolerance will set radar beam either point to sky, or point to GMD. Radar cannot find target in both cases. Another application of this radar is mounted at traffic post to detect speed car. Usually it works with video camera. When radar find car over speed limit in test area, it will trigger video camera and recorder as ticket evidence. Doppler radar is very hard to find multi-target and get high false or unjust ticket. Generally FMCW radar improve false rate but still have problem for target in different lanes. This radar is the best one because it provides range and azimuth angle with speed parameters together. Fig 1(c) shows elevation coverage for this application. Page 3 of 25

4 Fig 1(c) Radar tipped mounted n traffic post for multi-lanes and multi targets speed detection When radar is mounted at post; main beam must be depressed to get ground distance from R1 to R2. Let post height is H and target height is Ht. Antenna beam is EL and depress angle is Angle, the formulas are: R2 = (H-Ht) / tan (Angler EL/2) R1 = (H-Ht) / tan (Angler + EL/2) In practical application, Ht (vehicle high 1m) and EL (16 degrees) are constant. Adjustable parameters are Angle and H. They are coming from ground coverage requirement R1 and R2. There are many other applications by this radar because it provides multi targets speed, range, AZ angle and amplitude parameters. In each application, antenna beam width and detect range with range resolution maybe need adjustment. Customer design is available for special customer. Page 4 of 25

5 3. Hardware Setup 3-1) Assemble Radar to Base plate Fig 2 (a) shows picture that radar is assembled inside the vehicle (with video camera). DC supply is from 12V DC of smoke plunger of Vehicle. Fig 2 (a) Radar assemble inside Vehicle Fig 2(b) shows radar is assembled outside vehicle. There are 2 ¼-36-UNS screws hole for assemble. Detail position is shown in Fig 6. Be careful to make sure radar beam is parallel with GND (elevation angle) and parallel with host car width (Azimuth angle). Page 5 of 25

6 Fig 2 (b) Radar assemble outside Vehicle 3-2) Connect Radar to 9V~12V 2A DC Supply There are 3 interface connectors on radar. They are: DC input connector Ethernet connector 2x7 I/O pins connector (pin gap 0.1x0.1 inch, pin diameter is 20+/-4 mils). They are designed for special customer requirement. For example, send radar data out to up-link DSP, or send trigger signal to video camera. Not used for current radar. Fig 2 C is the photo of these 3 connectors. Page 6 of 25

7 Fig 2 C photo of these 3 connectors Be careful to select DC supply. The key issues are: The total working current of radar is 1.5+/-0.1A at room temperature To reduce heat-power, it is suggested use 9V supply If use switch DC-to-DC convert, the ripple between 5KHz to 1.5MHz <1mV/10Kohm The damage DC voltage is 16V. Be careful not let DC supply over 15V The DC convert unit in radar has DC polar protection. Radar does not work when Reverse connection of DC line. After turn on DC supply to radar. Radar works in 2 to 10 seconds. If DC supply has current monitor, it will show current around 1.4A. Page 7 of 25

8 The new DC convert unit will be available soon. Input voltage is from 6.5V to 24V. Total DC power is limited in 4W. 3-3) How to check radar data This radar will detect all possible targets in 1ms (Default). The detect time is optional adjust faster or lower. Radar will average 3 to 100 test data (default 50), and send radar data out thru Ethernet interface under UDP agreement. Or data fresh time is 3~100ms. (Default 50ms) Radar data will report 4 parameters for each target. They are range, speed, amplitude, and azimuth angle. Radar will report maximum 100 targets as long as return signal amplitude over threshold gate. To receive and check radar data End-user will use either optional radar map provide by ELEC Radar Corp, or build data recorder to check radar data by themselves. Section 4 is for how to set up radar map code and user manual to run it. Section 5 provides radar data format information. 4. User Manual for Run Radar Map Code Follow tool and code are required to use radar map code (display radar map) Matlab V7 software tool (as base-plate) Purchase radar map code named tcp_udp_ip (for new customer) Radar hardware mentioned above. 4-1) Setup Matlab 7.0 to C-drive of host computer as shown in Fig3.1 Page 8 of 25

9 Fig 3.1 Assemble MATLAB V7 to host computer 4-2) Copy the FMCW Radar Code Copy tcp_udp_ip from attached CD to host computer fold C:\MATLAB7\work. 4-3) Setup Web Turn on host Computer. Right click My Network Places and select Properties in order to open Network Connections. Right click Local Area Connection and select Properties. Select Internet Protocol (TCP/IP) at Properties window. On the Internet Protocol (TCP/IP) Properties page, select Use the following IP address, and set the IP address as , set Subnet mask as Click OK to save the configuration. Turn off WiFi function of host computer when it used to display Radar Map! Page 9 of 25

10 4-4) Run Radar Connecting 9V/2A DC supply to the Radar Connecting radar and host computer by Ethernet Cable Put any target in front of radar for calibrate 3 db corner reflector is the best one, Coca-Cola Can maybe works, or just put a 1 foot square metal plate as target. The target is better in 6m to 12m for initial test. Make sure not big metal reflect object inside radar coverage area. New Customer increase target distance step by step. Turn on DC supply (both for radar and PC) 4-5) Open Radar Map Launch Matlab 7.0. (by click sign of MATLAB7.0). Fig 3.2 select work fold and run Radar map code Click (right side of Current Directory bar above command window ) and set Current Directory to C:\MATLAB7\work\tcp_udp_ip (refer Fig 3.2) Page 10 of 25

11 Type radar in Command Window, and press ENTER to launch radar map program. Waiting 2 ~10 seconds, Figure 1 radar map screen is appeared as shown in Fig 3.3. There are four lanes background in white in radar map. Each lane width is 3.8m. 2-lane used for host car driving direction. Another 2 lanes are used for opposite direction. The dot line means the lane in the same direction Radar beam coverage is in yellow. The red line is main beam direction. No target is detected if its range outside yellow section. Big white dot is (are) used to stand for target (targets). Usually dot diameter is less or equal to normal car width. There are two widows in yellow and Green/Red. The word in yellow is Green work, which means radar is succeed connect to host PC only above window shows Green Fig 3.3 Radar Map Screen If Green window is in Red color, host PC is not connected to Radar. The operator should be waiting up to 10 seconds. It is suggested check Ethernet Cable (there are 2LED should be light at Ethernet connector at radar port) when window is not turns to Green. It is suggested turn off radar DC supply and turn on again after 20 seconds to re-set radar parameters. It is not suggested do reset during running radar. Just in the case that LED light but Green window is still in RED. Page 11 of 25

12 Radar works whenever Green Window is in Green, no matter there is target or no. (make sure there is target in front of radar detect area). Fig 3.4 is example photo when Green window is in Red color. Fig 3.4 Radar Map Screen shows radar is not connect to PC (Red) 4-6) Open Radar Operate Parameters Window 4-6-1) Radar works automatically when it is turned on and connected to radar map code. The default picture is shown in Fig 3.3. It is Full Size Radar Map. There is Radar Operate Parameters window to zoom and filter targets display. Open the internet browser on computer and type then Radar Operate Parameter Window appears for user to adjust radar parameters, as show in Fig 3.5. This window will stop radar map (as shown in Fig 3.4) when operator window shows mark START 4-6-2) there are 3 parameters could be adjust in Radar Operate Parameters window. They are maximum and minimum display range (Rmin and Rmax), and display amplitude threshold (Aref) These 3 parameters are stored in both memory of embedded DSP chip, and fresh memory of DSP for Radar Operate Parameter Window. The data stored in memory are Rmin= 0m; Rmax= 200m and Aref= 70dBm. Then Radar will send any target as long as it is inside 0~200m which amplitude is larger than -70dbm.The maximum target number is Page 12 of 25

13 The default three parameters in fresh memory for radar map code are the same as stored in the memory of embedded DSP chip. (Rmax=200m; Rmin=0m, and Aref=-70dBm). But they can adjust in Radar Operate Parameters window. Fig 3.5 Radar Operate Parameter Window The main reasons to adjust these three parameters are: (1) Radar map will zoom range window by reselect Rmain and Rmax, (2) Radar map will filter less important target by reselect Aref. It is very important to set Aref value in select range (from Rmin to Rmax). Smaller Aref (minimum 70dBm) may cause too noise to see interesting target. Larger Aref (-30dBm for example) may loss many real target. End-user should pre-adjust radar map parameters in their application firstly. Page 13 of 25

14 4-6-3) After input new radar parameters, click START button to save parameters and turn the radar map on. The START key will change to STOP state. Fig 3.6 Example of Adjust Radar Operate Parameter Window 4-6-5) Every time adjust any parameters of Rmin, Rmax, oand Aref, click STOP key to get START state firstly. Green window in map is in red. Radar map does not work at this state. Adjust display parameters, and click START again. 4-7) Function of Radar map Operate Key There are 3 operate keys on Radar display screen. They are: *1+ Exit key: Press exit key will end radar map display. Radar Map Figure1 screen will disappear. Rekey in radar (with return of key board of host PC) on commend window of MATLAB screen (refer Fig3.7) will let radar map screen come back. Page 14 of 25

15 Fig 3.7 After click Exit, key in radar at MATLAB to restart Radar Map *2+ Start Save key: Press start save key will save radar data to file named runfmcw. Usually click clear key first to set text file zero. Fig 3.8 shows operate step. Page 15 of 25

16 Fig 3.8 typical record radar data step Start save key is changed to stop save as shown in Fig Page 16 of 25

17 Fig 3.9 Stop Save means PC is recording radar data. Click it again becomes Start Save will stop this time save. Click stop save, it will back to start save again. The save data is finished This file will be found at C:\Matlab7 \work \tcp_udp_ip \runfmcw.txt, as shown in Fig The typical radar data output is shown in Fig Page 17 of 25

18 Fig 3.10 find runfmcw document to see radar data Fig 3.11 radar data output format *3+ Clear Key: Press Clear key will clear all data stored in runfmcw file. Operator must rename runfmcw if they want keep old test data. Page 18 of 25

19 5. Radar Data Format under UDP Agreement 5-1) Radar works after turn on DC supply. Monitor current (1.5+/-1A) is helpful the end-user know radar performance. It automatic sends radar data thru Ethernet cable. The upgrade time is 3~100ms (default 50ms). 5-2) Radar output radar data thru Ethernet cable under UDP agreement 5-3) Up-link data format There are 2 types of data in up-link data block, partly radar design parameters and real testing radar-data. Block is the basic unit for up-link transmission. The Identify is LEN (UDP LEN) show in follow Fig ) UDP LEN LEN<=0, UDP stop, radar stop scan LEN=89, system information for WEB parameters, (89 byte) LEN= others, radar data information r_range 1,2,3... r_prerange1,2,3... r_vel 1,2,3... r_magni 1,2,3... r_azimuth1,2,3... r_elevation 1,2,3... Target Parameter Block0 Block1 Blocki Blocki+1 Blockn WEB Parameter p_rmax MaxSection p_direction p_scanmode p_srange p_rate MaxBlock pp_resolution p_refled num_block padding Fig.5 Uplink Data Format 5-5) Radar design parameter format p_rmax MaxSection p_direction p_scanmode p_srange p_rate MaxBlock pp_resolution p_refled num_block padding The first 10 parameters (each has 8 bytes size) type is double. The last byte has no mean, just for time count. Since radar works for many model to get scan, including no scan model. There are many data is not used for this radar. Table 1 is the mean of each parameter for radar design parameters. The parameters with no meaning for this radar are not used for no scan radar. Page 19 of 25

20 Parameters Function Recommended p_rmax Rmax Radar max range limited MaxSection Number of section at this block Set 1 for this radar p_direction Scan dir, SD, 0 CCW, 1 CW No meaning for this radar p_scanmode SM: 0 fix beam;1 360;2 sector No meaning for this radar p_srange SR (rad) No meaning for this radar p_rate FS No meaning for this radar MaxBlock Number of block No meaning for this radar pp_resolution 2 of df No meaning for this radar p_refled Calibrate antenna: 0 ok;1 no calibrate No meaning for this radar num_block Current Block value Set 1 for this radar 5-6) Radar-data format (all are 32 bit int-type) 1] R_range r_range(i,1,1) r_range(i,1,2) r_range(i,1,...) r_range(i,n,m) r_range(x,y,z)is the z target range R value in x block, y section. The unit is cm. This radar block and section is 1. Or 1 page of radar data just has 1 section, which has only 1 block. 2] r_prerange r_prerange(i,1,1) r_prerange(i,1,2) r_prerang(i,1,...) r_prerange(i,n,m) r_prerange(x,y,z)is the z target estimated range Rpre value in x block, y section. The unit is cm. This parameter is the estimated range after 50ms delay of current tested. 3] r_vel,r_magni,r_azimuth,r_elevation format is the same as R_range Page 20 of 25

21 The summary of radar data is listed in follow table parameter function r_range Target range R actual_r_range = r_range/100 r_prerange Estimate range Rpre actual_r_prerange = r_prerange/100 r_vel Target speed V actual_r_vel= r_vel/100 r_magni Target amplitude A actual_r_magni = r_ magni /100 r_azimuth Azimuth angle AZ actual_r_azimuth = r_ azimuth /90 r_elevation Elevation angle EL actual_r_elevation = r_ elevation /100 Since this radar works at fixed beam (or mono-pulse) model, azimuth (r_azimuth) is always at zero (maximum beam position). This data has no mean for this radar. But code calculates mono-pulse in elevation-plan. This radar will put mono-pulse in azimuth-plan, and then r_elevation is the angle of azimuth-plan of mono-pulse Customer must build display code in up-link computer to read radar data. Page 21 of 25

22 6. 24GHz Mono-Pulse FMCW Radar Technology Refer 6-1) Assemble Position Fig 6: Triple patch array Antenna Design draw Page 22 of 25

23 6-2) Typical 24GHz Radar Specification Sign Unit Value Range Recommend Front End Transmit power Pt dbm 10+/-2 Carrier frequency Fc GHz Swept Band B MHz 200 default Modulation Fm KHz 1 Waveform Triangle wave Linearity L % 0.05 Fm=F(t) Antenna Type Trip patch array In Azimuth-direction Antenna Gain G db 23~24 Azimuth 3db beam Az degree 16.4+/-0.8 Elevation 3dB beam El degree 6.2+/-0.5 Side lobe Aside db 16~25 Isolation Iso dbc >50 RX only Receiver Noise N db 3~4 Dynamic range DR db 60~80 With 12 bit ADC Size LxWxH inch 5.9x3.8x0.52 Weight g <300 DC supply V/I V/A 5V/0.3A, 3.3V/0.25A, Current rate is 1A Interface 2X19 Pins Space 0.1x0.1 inch Back End Fm frequency KHz 0.5, 1, 2, 4, 5, 8, 10 1KHz default Freq/time Fm function [F(t)] MHz Any range between 10~ % linearity DAC sample Freq fsamp MHz 2.5/1.25/ CH FFT bit 128/256/ default Scan Model Fixed beam 360 deg scan Fixed beam default +/-(18, 36, 45, 90) sector Scan rate Fs Hz 0.1,0.25,0.5,1,2,2.5,4,5 1Hz default Scan stepper Ss deg 1.8 Target number 16 for fixed beam 4 for each 1.8 deg stepper Just for radar map Interface 2X19 Pin for Front-end Ethernet to PC 1 pin DC connector Typical Radar Spec Max range Rmax m Human 60m Car: 100~200 Min range Rmin m 3~Rmax-1 Range resolution dr m 1m (B=200MHz) 0.2m (B=1GHz) Max velocity Vmax m/s 80 Velocity resolution dv m/s < 1 Optional to 0.2~0.5 Mono-pulse coverage AZC deg 14+/-2 Angle resolution da deg 0.2~0.5 Page 23 of 25

24 6-3) Diagram Block Fig 7: 24GHz FMCW Radar Diagram Block 6-4) Radar test video 1] Radar test human from 6m to 65m. (Video V1.wmv) 2] Radar test corn reflector from 3m to 65m and 16degree azimuth coverage (video V2.wmv) 3] Radar test car from 3m to 100m with mono pulse function (video V3.wmv) Page 24 of 25

25 6-5) Application Specification of ELEC Radar 24.1GHz 38GHz 46.8GHz 76.5GHz 94GHz Detect target Car, person Car, person Car, person Car, person Car, person Range 3~200m 3~200m 3~200m 2~120m 2~100m Range * resolution 1~2m <0.8m <1m 0.2~0.5m 0.1~0.5m Speed 0~256kmh 0~256kmh 0~256kmh 0~256kmh 0~256kmh Speed resolution < 1kmh < 1kmh < 1kmh < 1kmh < 1kmh AZ range EL range CH RX AZ resolution 2 deg 1.0deg 0.9 deg 0.6deg 0.5 deg 4CH RX AZ resolution <1deg <0.8 deg <0.5deg <0.4deg <0.3deg EL resolution no no no no no DC power Car battery 9~16V/2.5A 12V 9~16V/2.5A 12V 9~16V/2.5A 12V 9~16V/2.5A 12V 9~16V/2.5A 12V Temperature -40~+85C -40~+85C -40~+85C -40~+85C -40~+85C MTBF >10^5 H >10^5 H >10^5 H >10^5 H >10^5 H Output Radar data Radar data Radar data Radar data Radar data Ethernet Ethernet Ethernet Ethernet Ethernet License Band free free For car For car free Radar map version display approach is adjustable without notice. Antenna specification is optional with customer design is available. Page 25 of 25