XAG RD24412 User manual

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User Manual
（4D Imaging Radar）

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1. Introduction
4D Imaging Radar is applied to agricultural environment sensing for detection of the
distance, velocity and orientation of targets including people, trees, power lines and poles in the
environment, providing 3D point clouds and velocities. The back-end processor detects and
identifies targets using such point clouds, building real-time maps for agricultural drones' route
planning and obstacle avoidance. With an embedded gimbal motor, this 4D Imaging Radar is
capable of dynamic scanning and fixed angle scanning.
Model: RD24412
Main Features:
l Distance Measurement Range: 1.5m~40m
l Range Resolution: 0.75m
l Velocity Measurement Range: ±13m/s; Resolution: 1m/s
l FOV: Azimuth: 80°; Pitch Angle: 135°
l Azimuth Resolution: 9.5°
l Point Cloud Refresh Rate: 30Hz
l CAN-FD Interface
l IP67 Waterproof
l Operating Temperature: -20°C~+85°C
Applications:
Agricultural Aircraft Done-
Agricultura Ground Vehicles
Agricultural Autopilot Consoles

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2. Specifications
Table 1. Main Specifications
Parameter
Testing Condition
Min
Typical
Value
Max
Unit
System
Transmit
Frequency
24.05
24.25
GHz
Transmit Power
Average/Peak EIRP
17
20
dBm
Modulation
FMCW
Refresh Rate
30
Hz
Measurement
Distance Range
@FOV: Azimuth: ±40°; Pitch
Angle: +90°~-45°
1.5
40
M
Distance Accuracy
Non-tracking Point Target
±0.1
M
Velocity Range
Away from Target: “-”;
Toward Target: “+”
-13
+13
m/s
Velocity Accuracy
Point Target
±0.1
m/s
Angle Range
Azimuth
-40
+40
°
Pitch Angle
-45
+90
°
Angle Accuracy
Non-tracking Point Target
@Azimuth: ±50°
±1
°
Non-tracking Point Target
@Pitch Angle: ±30°
±1
°
Muti-target Testing
Targets Tested
Simultaneously
64
个
Distance
Resolution
For Non-tracking Point
Targets, two object s are
distinguishable at 1.5x to 2x
zoom
0.75
M
Velocity
1
m/s

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Resolution
Angle Resolution
Non-tracking Point Target
@Azimuth: ±40°
9.5
°
Antenna
Beamwidth
Azimuth (-3dB)
70
°
Pitch Angle (-3dB)
23
°
Antenna Gain
12
dBi
Interface
CAN-FD
Communication Speed
1
4
Mbps
Structure
Dimensions
W*L*H
87*87*153
Mm
Material
Radar Housing
PA66+30%GF
Rear Cover
Cast Aluminum
Weight
470
G
3. Interfaces
The interface on the Dynamic Imaging Radar for external communication is CAN-FD, working
with a 6PIN connector defined as follows.
Table 2 . I n terfac e S i gnal D e f i n ition
Pin
Signal
Type
Definition
Connector
1
CAN_L
I/O
CAN-bus (Low Level)
1# Green
2# Blue
3# Yellow
4# White
5# Red
6# Black
2
CAN_H
I/O
CAN-bus (High Level)
3
SYNC
O
Flight Controller Signal Synchronization
4
NC
-
Reserved
5
BAT
P
Battery Cathode
6
GND
P
Battery Anode
4. Operating Conditions
Certain operating conditions, as specified below, are required for the proper functioning of the
radar module, otherwise, it might malfunction or burn out.

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Table 3. Operating Conditions
Parameter
Testing Condition
Min
Typical
Value
Max
Unit
Operating
Voltage
Battery Powered
12
48
56
VDC
Power
Consumption
@48VDC
6.5
W
Static Power
Consumption
@48VDC
100
mW
Operating
Temperature
-20
+85
°C
Storage
Temperature
-40
+85
°C
Shock
500m/s²@6 ms half-sine(10 x shock each in +/-X/Y/Z dir.)
Vibration
20m/s² peak at 10Hz/0.14m/s² peak at 1000Hz
Protection
Rating
IP67 (10cm below the surface of water)
5. Standards & Requirements
Table 4. Testing Requirements and Standards
Requirement
Test Item
Standard
EMC
ESD
IEC61000-4-2 Level 3 (判据 B)
Conduction &
Radiation
EN55032:2015/AC:2016-07 Class A
Environmental
Adaptability
Temperature Cycling
ISO 16750-1 -20°C~+85°C
Vibration Testing
IEC 60068-2-64/Random Vibration
Testing
Waterproof
IP67

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Export
Certification
24GHz Radar
CE/FCC/KCC
FCC Statement:
This device complies with Part 15 of the FCC Rules. Operation is subject to the following two
conditions:
(1) This device may not cause harmful interference, and
(2) this device must accept any interference received, including interference that may cause undesired
operation.
Note: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant
to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial environment. This equipment generates, uses,
and can radiate radio frequency energy and, if not installed and used in accordance with the instruction
manual, may cause harmful interference to radio communications. Operation of this equipment in a residential
area is likely to cause harmful interference in which case the user will be required to correct the interference at
his own expense.
FCC Caution: Any changes or modifications not expressly approved by the party responsible for compliance
could void the user's authority to operate this equipment. This transmitter must not be co-located or
operating in conjunction with any other antenna or transmitter.
OEM/Host manufacturer responsibilities
Must use the device only in host devices that meet the FCC RF exposure category of mobile, which means the
device is installed and used at distances of at least 20cm from persons.
OEM/Host manufacturers are ultimately responsible for the compliance of the Host and Module. The final
product must be reassessed against all the essential requirements of the FCC rule such as FCC Part 15 Subpart B
before it can be placed on the US market. This includes reassessing the transmitter module for compliance with
the Radio and EMF essential requirements of the FCC rules. This module must not be incorporated into any
other device or system without retesting for compliance as multi-radio and combined equipment.

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Additional text needed for the host product manufacturer to provide to end users in their end-product
manuals. If RF exposure statements and use conditions are not provided, then the host product manufacturer is
required to take responsibility of the module through a change in FCC ID (new application).
Radiation Exposure Statement:
This equipment complies with FCC radiation exposure limits set forth for an uncontrolled
environment. This equipment should be installed and operated with minimum distance 20cm between
the radiator & your body.
This device is intended only for OEM integrators under the following conditions:
1) The antenna must be installed such that 20 cm is maintained between the antenna and users,
and
2) The transmitter module may not be co-located with any other transmitter or antenna.
The OEM integrator is still responsible for testing their end-product for any additional compliance
requirements required with this module installed.
IMPORTANT NOTE:
In the event that these conditions can not be met (for example certain laptop configurations or co-location
with another transmitter), then the FCC authorization is no longer considered valid and the FCC ID can not be
used on the final product. In these circumstances, the OEM integrator will be responsible for reevaluating
the end product (including the transmitter) and obtaining a separate FCC authorization.
The module is tested for standalone mobile RF exposure use condition. Any other usage conditions such as
co-location with other transmitter(s) or being used in a portable condition will need a separate
reassessment through a class II permissive change application or new certification.
End Product Labeling
This transmitter module is authorized only for use in device where the antenna may be installed such that
20 cm may be maintained between the antenna and users. The final end product must be labeled in a visible
area with the following: “Contains FCC ID: 2A46G-RD24412”. The grantee's FCC ID can be used only when all
FCC compliance requirements are met.

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The end product shall bear the following 15.19 statement: This device complies with part 15 of the FCC Rules.
Operation is subject to the following two conditions:
(1) This device may not cause harmful interference, and
(2) This device must accept any interference received, including interference that may cause undesired
operation.