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== Identify your Radar ==
First of all you should identify which kind of radar do you have.
IGEP RADAR SENSOR ORION can be an stand alone radar sensor or it can be plugged with any of 2 different processor boards: IGEPv2 or IGEP COM MODULE.
When combined with IGEPv2 the result is called IGEP RADAR LAMBDA, while when combined with IGEP COM MODULE the result is called IGEP RADAR EPSILON.
The next picture show both combinations:
[[Image:RADAR COMBINATIONSs.jpg]]<br>
== Identify the different parts of the radar sensor ORION ==
It is very important you are able to identify the basic parts of the radar in order to avoid wrong set ups of measurement.
The next picture show which is the 24GHz transmitting antenna, the receiving antenna, the transmitter (TX) and the receiver (RX):
[[Image:ORION DETAILS TOPs.jpg]]<br>
You can also take a look at the bottom face:<br>
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[[Image:ORION BOTTOM.png]]
JL1 gives you access to the VCO signal
JD1 is the modulation signal
JD2 is the synchronism (you can use this signal to visualise the others on an oscilloscope)
JF1 is the IF signal
JC2 is the expansion connector for IGEPv2
JC4 and JC3 are the expansion connectors for IGEP COM MODULE
JP1 is the power connector
== Place the Radar on a stable surface ==
Place the radar over your desk and oriented with the ORION board (antenna) facing a wall of your office with nothing in betweenin order to have a clearly dominant reflection. A distance of about 3 meters between the radar and the wall would be good to make the a first measurement.
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=== Network ===
You may now plug the Ethernet cable into the 10/100 Ethernet jack of the IGEPv2 board of the radar to get network access. The default firmware configures the Ethernet device with static ip address (192.168.2.232)189. It is possible to use also 192.168.5.1 or, if you want to be connected to a WiFi network, then you must use 192.168.6.1. Start your PC and plug the Ethernet cable to it.
=== Source Power ===
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[[Image:RADAR ON TABLE SET UPsLAMBDA 1st MEASUREs.jpg]] === Radar Field of View === Be aware of the radar angle of detection. The radar will only detect objects within its field of view. The angle of detection is about 24º in horizontal direction and about 12º in vertical direction:<br> [[Image:FIELD OF VIEW.jpg]]
=== Wait few minutes ===
=== Connect to Radar IP ===
Put the radar IP 192.168.2.232 189 on the web browser. If the radar has already started you will see the Home page of the web radar application demo, if not, please be patient and wait a little bit more until the radar starts. You will see a home page similar to this one: [[Image:WEB HOME PAGE NEWs.jpg]]<br>
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[[Image:WEB-ALLsHOME PAGE f(t) NEW.pngjpg]] <br>
[[Image:WAVE 2m NEWs.jpg]]<br>
Be aware the application demo is designed to work on an environment with only a single target scenario so it is very probably you may see quite different signals than the presented here due to multiple reflections in your room, but this is normal, and this is the ability of radar technology to detect multiple objects at the same time, we encourage you to develop your own application and process the IF signal information to detect not only one but several objects. See next guides if you want to learn more about this. To be sure your radar works well, we recommend you find an adequate environment without multiple reflections before to make any wrong conclusions.<br>
== What is Time domain signal ==
The time domain signal window shows the 2048 samples captured of the IF radar signal on the last measurementeach captured frame.
Y axis represents the signal voltage.
X axis is represents the time in microseconds or also it can be the sample number.
In the picture below we can see a measurement using the default a -T 600 modulation over a wall about 3m 2m distance from radar is shown. As we will see later, modulation parameters can be changed, in this case we have selected a modulation ramp with a duration of 600us. Considering that the time to get 2048 samples with the default modulation is 3,471ms and we can see about 16 20 periods of the sinusoidal signal this means that the dominant sinus shown below is about 45,609KHz 760KHz frequency. The frequency of the IF radar signal is proportional to the distance from the radar to the target (in this case the wall). [[Image:WAVE 2m -T 600 NEWs.jpg]]<br> <br>
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=== What's This? ===
Why I am getting this weird signal? It has no sense, my Radar does not works!
[[Image:WAVE CHAOS NEWs.jpg]]
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No. Please, be patient, this is completely normal, your radar works well. If you are getting a signal like this or even still more strange this means that you are detecting different objects. This signal is the result of adding different sinus waves with different frequencies resulting on an apparently noisy signal but in fact is a typical IF radar signal on a multitarget environment. Our main objective now is try to get a clear signal from a single target to start learning with the radar, so please try to slightly change the radar orientation in order to get only a single reflection, or if you are on a small room, try to go to a better scenario, on a wider room with few objects or simply outside close to a wall.<br>
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[[Image:WEB-WAVEwhatsthis.jpg]] <br>
== Basic FMCW Radar Theory ==
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In our example, as the default modulation has the next paramenters:
BW=250MHz
T=1,311ms 604us
V=3*108m/s<br>the resulting hzpm is 1271Hz2759Hz/m
So, if the measured IF radar signal frequency is 45,609KHz 760KHz it means the target is at a distance of 32,6m 08m from the radar.
Considering the radar has an offset of about 0,35m (this is due to the microwave signal has this electrical lenght internally on the equipment before to reach the antenna) the real distance results in 31,25m73m<br>
== What is Frequency domain signal ==
The frequency domain signal is the result of applying the FFT to one ramp modulation interval of the 2048 sampled IF radar signal captured samples.<br>
<br> [[Image:WEBFFT 2m -FFT3mBT 600 NEWs.jpg]]<br>
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Following our example, the above picture shows the FFT of the measurement. Y axis represents signal strenght and X axis represents the FFT sample. Note that only the 300 500 first samples are shown.
We can see a dominant peak centered about sample number 16. This peak should correspond to the measured dominant sinus of 45,609KHz 760KHz on time domain graphic.<br>
The sampling rate used by the equipment with the default modulation is 590Ksps. This means that each sample of the FFT represents 590000/2047=288,2Hz.
If the peak is centered about sample 16 20 it means the frequency represented is 1620*288,2Hz=45,611KHz764KHz, thus corresponding with accuracy with the calculations made on time domain.
We can see other small peaks at about samples 40 and 50. These peaks are due to other reflections on the room at a longer distance. So here an example of the possibilities of the radar to detect several targets at different distances. But by the moment is better if we pay our attention on a single target scenario to keep learning about the radar signal and later we will be able to analyse more complex scenarios.
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Now you can move the radar and make measurements over the wall at three two different distances. For example, make a measurement with the radar at 2m distance and another measurement with the radar at 5m distance. You should get similar results as the following for 2m, 3m and 5m in order:<br>
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[[Image:WEBSPEED-REALTIMERANGE 6m -5mT 1600 NEWs.jpg]]<br> <br>
Note that in this case you get always the same position (46.9meters1meters) and speed (0Km/h) as our target is a no moving object (wall).
You have a real time bar indicating the target range (orangegreen) and another real time bar indicating the speed (blue).
There is also a graphic where:
X axis is time
Each point of the graph is one combined position-speed measurement, position in orange green color and speed in blue color. You can see on next chapter examples of real traffic measurements where you can see how the radar track the vehicles measuring its position and distance. = What is "Parameters" section = This is the most interesting feature of the web application demo. By clicking on "Parameters" icon you will get access to the heart of the radar:
[[Image:WEB-TECHNICALPARAMETERS NEWs.jpg]]<br>
There are three sections:
=== SECTION-1: RADAR CALIBRATION CURRENT PARAMETERS<br> ===
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=== SECTION-2: RADAR MEASUREMENT UPDATE PARAMETERS ===
<br> === SECTION-3: LIST FILES<br> === You can see that check at any moment the default parameters aredata files you have saved on the radar by clicking on any of the three buttons, depending if you only want to check sample files, or FFT files or all the files.For example, if you click on "Only WAVE Files" button it will appear a list of files of the captured data similar to this:<br> [[Image: FILES NEW.jpg]]<br> <br> <br> You have the possibility to: -F 3C0000 -s 50 -i 512 -S 80 Browse: represent a time domain graphic of its contents. -m 3Figure. This is the same default modulation used as before -Download: Check the data contained on this file, this is a column with the Home Menu icons f(t) 2048 samples of the IF radar signal. You can select and F(jw). Now copy to a text file for post-processing -Remove: click here if you can want to remove these parameters this file <br> When clicking at "Download" option you will get a column with all the 2048 captured samples. This is useful to get measurements data and put what copy to another processing software application like excel or matlab:<br> [[Image:WEB-FILES-contents2.jpg]]<br> <br> <br> === SECTION-4: RADAR MEASUREMENT<br> === <br> This feature is interesting if you wantto use the web application demo as a console where you can configure the radar with different modulations and get the results prompted on the screen or saved on a text file.
For example, put in this section the next commands:
and click on "RUN" button
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-T 800 means you want a modulation with 0,8ms sweep time
-m 20 means that you want to make 20 consecutive measurements
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You can check a complete explanation of each parameter on the user manual of the radar.
The result obtained over a wall at 4.8m distance is like this:
[[Image:TECHNICAL-wall-4.8m8m2.jpg]] <br>
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Finally, the last column indicates the name of the captured file. IMPORTANT: This file will be generated and stored ONLY if you add the parameter -w
-w means that you want to write all the measurements on a file (there will be generated 20 files, one for each measurement, and each one with 2048 samples) <br>
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=== SECTION-35: RADAR CONTINUOUS MODE PARAMETERS ===
This section is a list of all the parameters that can be used to get the same graphics as the obtained on the Home Menu icons f(t) and F(jw), but in this case we can remove the default modulation and put the parameters we want. By checking on TIME or FFT we will obtain the time domain or configure the frequency domain graphicradar.<br>
Check [http://www.isee.biz/component/zoo/item/igep-T 1000 radar-lambda-hardware-reference-manual IGEP RADAR LAMBDA user manual] if you want to know more about the meanning of the file names.
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== Files using Linux == You have a third option to manage radar files.<br> You can do it using the console and using the standard Linux commands. Here are some useful links and basic commands: [http://www.linuxforums.org/forum/forum.php Linux Forum] [http://www.linuxquestions.org/ Linux Questions] [http://www.tuxfiles.org/linuxhelp/fileman.html Manage Files in Linux]<br> '''cd''' to change directory path '''rm''' to delete a file '''mkdir''' to make a directory '''cp''' [[Image:WEB-FILES.jpg]] to copy a file
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NOTE that it takes about 100ms time to make each measurement. This is more than previous example due to now the list of 2048 samples captured on the measurement. You can select all or a part of the samples and copy equipment has to a text write one file for further data processing, for example with matlab or other powerful programsafter each measurement. <br>
NOTE also that the file names with the ADC captured data are now generated and saved because we have used parameter -w. You should find the 20 generated files in "radar" directory. If you look the contents of one of these files you will see something like this:<br> 6384.000000<br> 6260.000000<br> 6156.000000<br> 6083.000000<br> 6043.000000<br> 6036.000000<br> 6047.000000<br> 6075.000000<br> 6099.000000<br> 6107.000000<br> 6080.000000<br> 6012.000000<br> 5888.000000<br> 5711.000000<br> 5467.000000<br> 5164.000000<br> 4819.000000<br> 4443.000000<br> 4056.000000<br> 3652.000000<br> 3267.000000<br> 2903.000000<br> 2568.000000<br> 2268.000000<br> 2008.000000<br> 1787.000000<br> 1599.000000<br> 1439.000000<br> 1316.000000<br> 1215.000000<br> 1135.000000<br> 1083.000000<br> 1052.000000<br> 1048.000000<br> 1087.000000<br> ...<br> ... completing the 2048 samples of each measurement capture The ADC captured files can be used to make your own data processing algorithms. <br> ==== Example 3: ==== You want to capture 7 consecutive measurement results into a file named measure7.txt. In addition you also want to use a modulation sweep time of 0,9ms and generate a file of the ADC captured data for each measurement. In order to identify your measurements you want to name these files with 12345. Then, in this case, you must prompt the next command line: ./radar -T 900 -D 12345 -m 7 -w >measure7.txt<br><br> Now you can check the measurement results in the generated measure7.txt file. You will see 7 rows with the position and speed measured:<br> <br> Position Speed Level Dtime filename<br> [m] +/-0.5 [Km/h] +/-3 . [ms] .<br> 4.9 -1 632 48 V58D12345A00.<br><br> 4.9 -1 630 92 V58D12345A01.<br> 4.9 -1 629 91 V58D12345A02.<br> 4.9 -0 645 92 V58D12345A03.<br><br> 4.9 1 619 91 V58D12345A04.<br> 4.9 1 587 149 V58D12345A05.<br> 4.8 -0 611 91 V58D12345A06.<br> If you look in the "radar" directory you will find the 7 data captured files containing the 2048 samples measured by the ADC on each measurement, and these files include the desired extension name: V58D12345A00.txt, V58D12345A01.txt, etc.<br> The first three digits of the file name are automatically generated depending on the modulation sweep time. You can check the [http://www.isee.biz/component/zoo/item/igep-radar-lambda-hardware-reference-manual user manual] fore more details.
= Next Steps =
IGEP RADAR LAMBDA has been used on this kind of applications, we would like to show you some of the measurements performed.
The next picture is a graph obtained making use of "Real TimeSpeed/Range" feature of the web radar application demo. It was obtained placing the radar on on a tripod close to a road on one side, with the radar oriented on a 15 to 30 meters field of view, as shown on below pictures: [[Image:SPEED-RANGE-C NEWs.jpg]] It can be clearly seen how radar tracks the target from 13 to 31 meters (linear green points) and how the target is slightly increasing the speed from 54 to 56Kmph.<br> In the next picture several targets were detected in different time intervals:
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[[Image:SPEED-RANGE_multitarget-1.jpg]]<br>
Real measurements of 4 vehicles tracked in range (orange points) and speed (blue points)
The modulation used to make this measurement was:
-T 5000 -x 3000 -X 75000 -l 80 -r<br>
-x 3000 ===> this is a limitation on the processing range, in order to avoid false measurements due to close objects, closer than 3m.<br>
-X 75000 ===> the same as before but applying for far objects, beyond 75m.
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Note that <u>'''an important thing to consider in this kind of measurements is the correct orientation of the radar'''</u>. This is something you also must empirically optimise for your specific application.
[[Image:SPEED-RANGE_multitarget-2.jpg]] <br>
Measurements obtained orienting the radar to get a wider range, up to 60m<br>
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[[Image:AVEMESURA-3-GRID-POINTS.jpg]]
Vibration wave graph obtained on the measurement. It can be clearly shown the high precision of IGEP RADAR LAMBDA using special data processing<br>
== Smart Cities: Intelligent Lighting Systems ==
Radar technology can help to develop intelligent systems for cost and energy saving savings on Smart Cities systems applications. One example is the Intelligent Lighting Systemconsisting on activation of a row of street lights only when the radar detects a person approaching the area, thus saving lot of illuminating hours with nobody in the street. IGEP RADAR LAMBDA could be integrated on this kind of energy efficient systems. <br> [[Image:LIGHTING.jpg]]<br> == Sports == Radar technolgy can be also used in several sports where ball speed or trajectory is an important source of information to improve performance. Archers, Tennis and Golf players are becoming more and more dependants on this kind of information in order to improve their techniques.
Radar calibration is done with special trihedral reflectors in order to measure its maximum range with precision. The next pictures show real 70m distance that radar is able to detect a 20cm trihedral reflector on a free space environment:<br>
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