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
- Return type
float
- property range_bins: ndarray
Sample bins of the depth sensing.
- Returns
Ranges in m.
- Return type
np.ndarray
- property velocity_bins: ndarray
Sample bins of the radial velocity sensing.
- Returns
Doppler shift in Hz.
- Return type
np.ndarray
- property frame_duration: float
- Return type
float
- 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.
- Return type
float
- 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 range_resolution: float
Depth sensing resolution.
- Returns
Range resolution in m.
- Return type
float
- Raises
ValueError – If resolution is smaller or equal to zero.
- property doppler_resolution: float
Doppler sensing resolution.
- Returns
Doppler resolution in Hz.
- Return type
float
- Raises
ValueError – If resolution 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 max_velocity: float
Maximum relative target velocity detectable.
- Returns
Maximum target velocity in m/s.
- Return type
float
- 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
- Return type
float- Returns
pulse energy.
- property power: float
Power of the radar waveform.
Returns: Radar power in \(\mathrm{W}\).
- Return type
float