Frequency Modulated Continuous Waveform Radar#
- class FMCW(num_chirps=10, bandwidth=100000000.0, chirp_duration=1.5e-06, pulse_rep_interval=1.5e-06, sampling_rate=None, adc_sampling_rate=None)#
Bases:
RadarWaveform,SerializableFrequency Modulated Continuous Waveform Radar Sensing with stretch processing.
This class generates a frame consisting of a sequence of unmodulated chirps. They are used for radar detection with stretch processing, i.e., mixing the received signal with the transmitted sequence, (under)sampling and applying an FFT.
- Parameters:
num_chirps (float) – number of chirps in a radar frame
bandwidth (float) – Sweep bandwidth of the chirp in Hz
sampling_rate (float) – simulation sampling rate of the baseband signal in Hz
chirp_duration (float) – chirp duration in seconds
pulse_rep_interval (float) – pulse repetition interval in seconds
adc_sampling_rate (float) – sampling rate of ADC after mixing
- yaml_tag: Optional[str] = 'Radar-FMCW'#
YAML serialization tag.
- estimate(input_signal)#
- Return type:
ndarray
- property max_range: float#
Maximum detectable radial range of the radar waveform.
Returns: Maximum range in m.
- property range_resolution: float#
Resolution of the radial range sensing in m.
Returns: Range resolution in m.
- property max_relative_doppler: float#
Maximum relative detectable radial doppler frequency shift in Hz.
\[\math{\Delta f_\mathrm{Max}} = \frac{v_\mathrm{Max}}{\lambda}\]Returns: Shift frequency delta in Hz.
- property relative_doppler_resolution: float#
Relative resolution of the radial doppler frequency shift sensing in Hz.
\[\math{\Delta f_\mathrm{Res}} = \frac{v_\mathrm{Res}}{\lambda}\]Returns: Doppler resolution in Hz.
- property relative_doppler_bins: ndarray#
Realtive discrete sample bins of the radial doppler frequency shift sensing.
- Returns:
Doppler shift bins in Hz.
- Return type:
np.ndarray
- property frame_duration: float#
Duration of the radar frame.
Returns: Frame duration in seconds.
- property num_chirps: int#
Number of chirps per transmitted radar frame.
- Returns:
Number of chirps.
- Return type:
int
- Raises:
ValueError – If the number of chirps is smaller than one.
- property bandwidth: float#
Bandwidth swept during each chirp.
- Returns:
Sweep bandwidth in Hz.
- Return type:
float
- Raises:
ValueError – If bandwidth is smaller or equal to zero.
- property chirp_duration: float#
Duration of a single chirp within the FMCW frame.
Returns: Duration in seconds.
- Raises:
ValueErorr – For durations smaller or equal to zero.
- property adc_sampling_rate: float#
Sampling rate at ADC
- Returns:
sampling rate in Hz.
- Return type:
float
- Raises:
ValueError – If sampling rate is smaller or equal to zero.
- property sampling_rate: float#
The optional sampling rate required to process this waveform.
- Returns:
Sampling rate in Hz.
- Return type:
sampling_rate (float)
- property pulse_rep_interval: float#
Pulse repetition interval
- Returns:
pulse repetition interval in seconds
- Return type:
float
- Raises:
ValueError – If interval is smaller or equal to zero.
- property slope: float#
Slope of the bandwidth sweep.
- Returns:
Slope in Hz / s.
- Return type:
float
- Raises:
ValueError – If slope is smaller or equal to zero.
- property energy: float#
Energy of a radar pulse
- Returns:
pulse energy.
- property power: float#
Power of the radar waveform.
Returns: Radar power in \(\mathrm{W}\).