Rfbeam microwave K-md2 User manual

– 24 GHz FMCW radar with digital signal processing

– Angle of arrival in azimuth/elevation

– Serial target list output

– Detection distance: 100 m for persons/200 m for cars

– Distance range: 0 –250 m, 1m resolution

– Speed range: ± 130 km/h, 1 km/h resolution

– Angle range: ± 9.1° (elevation) ±16.4° (azimuth),

0.1°resolution

– Compact size: 120 × 72 × 15 mm

– Trafﬁc analysis and classiﬁcation

– Intersection management

– Security systems

– Object speed measurement systems

– Measurement and research applications

– Industrial sensors

The K-MD2 is a high-end 3D radar transceiver with three recei-

ving channels and a low phase noise, PLL controlled transmitter.

The target information from the three receive antennas is digiti-

zed and the high speed digital signal processing performs range

and doppler FFT’s with an update rate of 20 measurements per

second. Using the serial interface, many operating parameters

such as frequency, bandwidth and repetition rate can be adjus-

ted. Results are available in target list format as well as in raw

range-doppler matrices. Ethernet and a serial communication

interfaces are included.

Features

Applications

Description

Control Panel

PRODUCT INFORMATION

Figure 1: Control panel GUI overview

user manual

K-MD2

Engineering Sample

radar transceiver

with integrated signal processing

TABLE OF

CONTENTS

Product Information ............................ 1

Features ......................................... 1

Applications ...................................... 1

Description....................................... 1

Control Panel..................................... 1

Installation ....................................... 3

Setup for TCP (Ethernet) .......................... 3

Quick Start ...................................... 4

Adjust the Settings................................ 6

Control Panel ................................... 9

Views ........................................... 10

Miscellaneous Display Controls ................... 15

Control Tabs..................................... 16

System Requirements ....................... 23

Revision History .............................. 23

INSTALLATION

Double-click the K-MD2_CTP-RFB-01XX_Setup.msi

ﬁle to start the installation of the control panel. Follow

the steps until installation is completed.

To use the integrated video function, the « Logitech

HD Webcam C525 » is recommended and suppor-

ted by the control panel. Please download and install

necessary drivers for the webcam from the manufac-

turer’s website.

Setup for TCP (Ethernet)

Choose this option to connect the radar via TCP. To

connect the radar with the computer via ethernet

follow these steps:

1. Plug in the delivered power supply (+12VDC) and

connect it to the K-MD2

2. Connect the ethernet cable to the K-MD2 and

your computer

3. After some seconds the LED1 starts blinking

4. Change the IPV4 connection settings on your

computer to a static setting with the following

parameters:

IP-Address: 192.168.16.1

Subnet: 255.255.255.0

5. Open the cmd console and type in:

ping 192.168.16.2 <enter>

6. The K-MD2 should now respond to this ping. If

there is no response at all, recheck your IP-ad-

dress settings. If your IP-address settings are cor-

rect, please consider the possibility your ﬁrewall is

blocking the connection.

7. Connect your webcam – wait until Windows has

installed the webcam drivers.

8. Your K-MD2 is now connected with your compu-

ter – start the control panel.

9. Now click the “Connect” button in the TCP frame

(Figure 2). If it does not connect immediately, click

again until it successfully connects your K-MD2.

10. On a system with multiple cameras, the window

Figure 3 will pop up. Select the camera you want

to use.

11. After connecting, the control panel will display the

following view of Figure 4.

Figure 2: TCP area

Figure 3: Camera selection window

Figure 4: Default connected view

QUICK START

The control panel provides a range of setting options.

The structure of the panel views is designed to guide

you through the different steps of radar processing.

Figure 5: Signal processing workﬂow

Raw ADC Data (RADC)

– Samples ADC data from all 3 RX antennas

(1 Frame = 256 Samples x 256 Chirps)

Mean Range-Doppler (RMRD)

– Calculates the range-doppler map for all 3 RX antennas

– Averages the range-doppler map of all 3 RX antennas

Raw Target (PDAT)

– Find targets over threshold

– Range compensation

– Filtering with an exponential moving average

Tracking Target (TDAT)

– Uses an alpha-beta-gamma tracker to track targets

– Assigns objects to tracking channels

– Predicts temporary lost objects

Figure 6: Overview control panel areas

There are many views to select, all of them with a preceded shortcut.

The shortcuts are also preceded by the data output and therefore allows

easy checking of whether the current view receives and shows data from

the radar.

The control panel is structured according to Figure 6.

Go to the same named chapter for further information.

Views

Miscellaneous

Display Controls

Tabs

Example

By enabling “PDAT – Raw Target Data”

onthe“DataOutput”, the view:

– PDAT – Raw Target Speed/Range

– PDAT – Raw Target Azimuth/Range

– PDAT – Raw Target Elevation/Range

– PDAT – Raw Target Range/Range

– PDAT – Raw Target 3D

Start to update with radar data, also illustrated

inFigure 7.

Figure 7: Data output example

Figure 8: Device orientation

Figure 9: Clipping ADC signals

Figure 10: No clipping ADC signals

Adjust the Settings

Although the K-MD2 is pre-calibrated with useful

parameters and the control panel assists in parameter

selection, for a good result there are still many things

to consider and set depending on your needs. This

chapter is a guideline to lead you to usable results in

the shortest possible time.

All changed parameters are saved on the K-MD2

device and are still available after power off/on.

Make sure the orientation of the device is as

shown in Figure 8. Otherwise the azimuth

and elevation angles are mirrored.

Radar Settings

On the radar tab the K-MD2 parameters can be set.

Choose the following settings according to the appli-

cation:

– Range

– Speed

– RX gain

Changing of these settings, especially the RX gain,

can result in clipping of the ADC signals as shown

inFigure 9. If this happens, reduce the RX gain

inaway that the ADC signals don’t clip anymore

asshown inFigure 10.

Clipping ADC signals will result in loss of sensi-

tivity and therefore in worse target detections.

The range has to be set depending on the maximum

distance which should be detected and the necessary

distance resolution of the application. The speed set-

ting is dependent of the maximum detectable speed

of the application.

Detection Settings

Using the ADC data, which is now perfectly parame-

terized, the K-MD2 calculates three raw range-dopp-

ler maps (for each RX antenna) and subsequently

averages them into one mean range-doppler map.

Targets over the “Peak threshold” are coloured red in

the mean range-doppler map. Depending on the de-

tection settings the raw targets are reported. Set the

detection parameters according to your needs.

Figure 11: Mean range-doppler map to raw targets

Tracking Settings

On each frame the range, speed and direction of

every track is updated. An alpha-beta-gamma tracker

is used, where the speed is updated with the current

acceleration estimate, and the range is updated with

the current speed estimate. If a constant speed is

assumed the acceleration is assumed to be zero,

resulting in more reliable tracking for objects moving

at a constant speed (e.g. towards or away from the

radar). If the speed of the object is changing rapidly

(e.g. passing across the radar ﬁeld of view) it can be

tracked if a constant speed is not assumed.

The list of detected peaks is compared with the

updated list of known tracks. If a peak matches an

existing track, it is marked as associated and the life

of the track is increased. If no peak is found for the

track, the life of the track is decreased. If there is no

existing track for the peak, a new track is created.

Once the life of a track reaches a minimum threshold

it is reported as a conﬁrmed track. The life of a track

is limited, in that it will be lost if no detections are as-

sociated with it for the maximum track life. Adapt the

given parameters to suit your needs.

As indicated in the following ﬁgure, the tracking ﬁlter

reports only real targets and ignores reﬂections.

Figure 12: Raw targets to tracked targets

Figure 13: Start-up view of the control panel

CONTROL PANEL

This is the start-up view of the control panel. In this

chapter all the graphical elements and the functions

ofthe control panel are described.

Views

Video

Start and stop the webcam video stream.

Raw ADC Data View

This view shows the ADC values recorded by the K-MD2. Use

the «Recalculate axis button» to rescale when ADC signals are

displayed very small or bigger than the current axis range.

Chirp number:

The K-MD2 is conﬁgured to sample 256 chirps. From all of these

chirps the ADC signal of all three RX antennas can be shown

(Figure 14).

Mean Range-Spectrum View

This is the cross spectrum of the mean range-doppler map.

Chirp number:

The mean range-spectrum of the selected chirp number is

shown. The chirp number of zero speed is 128.

Figure 14: Chirps over time

Chirp number: 0 … 255

0123254 255

Figure 15: Chirp slices in therange-doppler map

Chirp number0 … … 255126127128129

… …

Mean Range-Doppler View

In the mean range-doppler map targets are displayed

in aspeedvs. distance map. Range-doppler is popular

amongstradar applications, as it can be efﬁciently calculated

out of therawADC data. Targets over the “peak threshold”

areshownred.

Raw Target Speed/Range View

This view contains the raw targets found with the same axis

asthe mean range-doppler view. It is helpful to compare this

view with the mean range-doppler when tuning the detecti-

onparameters.

No. of targets:

Count of actually reported raw targets

Raw Target Azimuth/Range View

This view shows the azimuth angle and the distance of the raw

targets in the same diagram. It is very helpful for angle measure-

ments and to calibrate the azimuth angle.

No. of targets:

Count of actually reported raw targets

The ADC values are complex values (I-Channel and

Q-Channel). Due to hardware coupling of these channels

targets in the lower half of the distance are seen mirrored

in the upper half of the distance but with less magnitude.

Raw Target Elevation/Range View

This view shows the elevation angle and the distance of the raw

targets in the same diagram. It is very helpful for angle measure-

ments and to calibrate the elevation angle.

No. of targets:

Count of actually reported raw targets

Raw Target Range/Range View

This is one of the most interesting views as the information of

theraw targets is interpreted and shown in a two-dimensional

map. The targets show the radar’s view of the real world. Grey

targets are static targets without any speed. Green targets

aremoving away from the radar and red targets are moving

towards the radar.

No. of targets:

Count of actually reported raw targets

Radar direction:

This deﬁnes the direction of the radar to the monitor. If «Same as

monitor» is used, the webcam video has to be mirrored to corres-

pond to the data.

Raw Target 3D View

This view shows the raw targets in three dimensions. Thein-

formation of the azimuth and elevation angles and the target

distance are calculated to the location in a 3D-distance area.

Thetargets are coloured pins and the colour suits to the Z-dimen-

sion(elevation).

No. of targets:

Count of actually reported raw targets

The 3D view can be turned around with the mouse

tochange the perspective.