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IWR6843ISK: Sensor Calibration

Divya Teja Settimali
Intellectual 360 points

Part Number: IWR6843ISK

Hi,

In our application, we are using area scanner demo on IWR6843ISK which is measuring the target about 18m but the problem is when we are using the same .cfg file on different ISK sensors we receive different maximum ranges that the target could be viewed at the same height sometimes it is 16m, 12m, 15m, 14m and so on. Then I realized maybe the sensors need to be calibrated and then I searched about the calibration procedure. Now I know that we need a strong reflective point (i.e., corner reflector) to calibrate the sensor and also the size of the corner reflector wouldn't effect the procedure if has a smaller radar cross section it is placed at a distance of 1 to 3 m. Because I tired finding a corner reflector even the smallest that is with the length of 2.54 cm is expensive. We need a clutter free environment to calibrate the sensor and then from the visualizer the profile_calibration.cfg is given with the first parameter of measureRangeBiasAndRxChanPhase to 1 so that the calibration is enabled and then we receive changed compRangeBiasAndRxChanPhase which we can use for the sensor when we are using a different demo and a different .cfg file am I right? So am I going to calibrate each sensor in the same way and note down a different compRangeBiasAndRxChanPhase for each sensor and use that particular values when using that sensor? Am I right in my understanding or please correct me if I missed something.

Regards,

Divya Teja Settimali

  • 0
    TI__Mastermind 23725 points

    Hello

    Calibration  at application level performs offset correction. Considering you are are seeing different result for the object of interest this could be a setup/orientation issue.

    Please check the following

    1. Is the object  at same orientation wrt to sensor for each reading.  Tabulate with pictures of setup if possible.

    2. What is the Configuration used for the device. Does configurations max distance cover the objects distance ( See sensing estimator tool and basics of FMCW distance detection)

    3. What does the range-azimuth heatmap plot for the scene look like.  See OOB demo + mmwave visualizer.

    Thank you,

    Vaibhav

  • 0 in reply to Vaibhav Mahimkar
    Intellectual 360 points

    Hi Vaibhav,

    Thank you for the quick reply. I understand the point about offset correction.

    1. yes the object movement or the target movement is exactly the same with respect to the multiple sensors I have tested.

    2. From the sensing estimator I have taken the values and changed the values in the cfg. Here is the cfg that we are using for our application. Could you please check.

    sensorStop
    flushCfg
    dfeDataOutputMode 1
    channelCfg 15 7 0
    adcCfg 2 1
    adcbufCfg -1 0 1 1 1
    profileCfg 0 60.5 35 6 69 394758 0 50 1 256 6000 0 0 50
    chirpCfg 0 0 0 0 0 0 0 1
    chirpCfg 1 1 0 0 0 0 0 4
    chirpCfg 2 2 0 0 0 0 0 2
    frameCfg 0 2 32 0 100 1 0
    lowPower 0 0
    guiMonitor -1 1 0 0 0 0 0
    cfarCfg -1 0 2 8 4 3 0 11 0
    cfarCfg -1 1 0 4 2 3 1 11 0
    multiObjBeamForming -1 1 0.5
    clutterRemoval -1 1
    calibDcRangeSig -1 0 -5 8 256
    extendedMaxVelocity -1 0
    bpmCfg -1 0 0 1
    lvdsStreamCfg -1 0 0 0
    compRangeBiasAndRxChanPhase 0.0 0.71313 -0.07993 0.80444 0.32242 0.65005 0.43036 0.63889 0.31528 0.56631 -0.49283 0.87103 -0.20547 0.80157 -0.02173 0.72357 -0.10864 0.39642 -0.74313 0.82355 -0.56723 0.82816 -0.34360 0.71524 -0.39929
    measureRangeBiasAndRxChanPhase 0 1.5 0.2
    CQRxSatMonitor 0 13 15 125 0
    CQSigImgMonitor 0 115 6
    analogMonitor 0 0
    aoaFovCfg -1 -90 90 -90 90
    cfarFovCfg -1 0 0 99.99
    cfarFovCfg -1 1 -80 80.00
    staticBoundaryBox -25 25 0 25 -1 2
    boundaryBox -25 25 0 25 -1 2
    gatingParam 5 2 2 2 10
    stateParam 100 1 2 500 5
    allocationParam 250 100 0.1 14 2 2
    maxAcceleration 0.1 0.1 0.1
    trackingCfg 1 2 250 20 20 260 100 90
    heatmapGenCfg -1 1 0 190 250 60.0 3.0 10
    staticDetectionCfg -1 0 -50.0 +50.0 -20.0 20.0 0.7 6.0 0.2 4 20.0
    sensorStart

    3. What are the parameters to be considered from the demo visualizer?

    Please let me know the points to be considered or things to change.

    Regards,

    Divya Teja Settimali

  • 0 in reply to Divya Teja Settimali
    TI__Genius 13629 points

    Hi Divya,

    (2) Did you take measurements using your new configuration based off of the sensing estimator parameters you found?  Please let me know if you are still experiencing problems, and I will help you troubleshoot.

    (3) Please see the mmWave Demo Visualizer User's Guide, section 2 for a description of configuration parameters for the visualizer: https://www.ti.com/lit/ug/swru529c/swru529c.pdf?ts=1638201196777&ref_url=https%253A%252F%252Fwww.google.com%252F

    Regards,

    Brennan

  • 0 in reply to Brennan Hartigan
    Intellectual 360 points

    Hi Brennan,

    Thank you for the reply.

    Yes, these measurements are based on the sensing estimator parameters. The problem is still existing. We see difference outputs for the same cfg and I do not know what is the reason when the scene is exact same and so is the object. My cfg is based on area scanner, do you want me to check the output on the demo visualizer to see the heatmap?

    Regards,

    Divya Teja Settimali

  • 0 in reply to Divya Teja Settimali
    TI__Genius 13629 points

    Divya,

    That would be helpful.  Please send that over so I can have a look.

    Regards,

    Brennan

  • 0 in reply to Brennan Hartigan
    Intellectual 360 points

    Hi Brennan,

    So I tried to use the .cfg we are using on our system.

    sensorStop
    flushCfg
    dfeDataOutputMode 1
    channelCfg 15 7 0
    adcCfg 2 1
    adcbufCfg -1 0 1 1 1
    profileCfg 0 60.5 35 6 69 394758 0 50 1 256 6000 0 0 50
    chirpCfg 0 0 0 0 0 0 0 1
    chirpCfg 1 1 0 0 0 0 0 4
    chirpCfg 2 2 0 0 0 0 0 2
    frameCfg 0 2 32 0 100 1 0
    lowPower 0 0
    guiMonitor -1 1 0 0 0 0 0
    cfarCfg -1 0 2 8 4 3 0 11 0
    cfarCfg -1 1 0 4 2 3 1 11 0
    multiObjBeamForming -1 1 0.5
    clutterRemoval -1 1
    calibDcRangeSig -1 0 -5 8 256
    extendedMaxVelocity -1 0
    bpmCfg -1 0 0 1
    lvdsStreamCfg -1 0 0 0
    compRangeBiasAndRxChanPhase 0.0 0.71313 -0.07993 0.80444 0.32242 0.65005 0.43036 0.63889 0.31528 0.56631 -0.49283 0.87103 -0.20547 0.80157 -0.02173 0.72357 -0.10864 0.39642 -0.74313 0.82355 -0.56723 0.82816 -0.34360 0.71524 -0.39929
    measureRangeBiasAndRxChanPhase 0 1.5 0.2
    CQRxSatMonitor 0 13 15 125 0
    CQSigImgMonitor 0 115 6
    analogMonitor 0 0
    aoaFovCfg -1 -90 90 -90 90
    cfarFovCfg -1 0 0 99.99
    cfarFovCfg -1 1 -80 80.00
    staticBoundaryBox -25 25 0 25 -1 2
    boundaryBox -25 25 0 25 -1 2
    gatingParam 5 2 2 2 10
    stateParam 100 1 2 500 5
    allocationParam 250 100 0.1 14 2 2
    maxAcceleration 0.1 0.1 0.1
    trackingCfg 1 2 250 20 20 260 100 90
    heatmapGenCfg -1 1 0 190 250 60.0 3.0 10
    staticDetectionCfg -1 0 -50.0 +50.0 -20.0 20.0 0.7 6.0 0.2 4 20.0
    sensorStart

    and because of higher frames per second I do not see any data on heatmap on demo visualizer but there is data on the teraterm. When I tried to reduce the frames per second in the .cfg I didn't see any data from both heatmap on demo visualizer and teraterm.

    This is the .cfg from the sensing estimator

    sensorStop
    flushCfg
    dfeDataOutputMode 1
    channelCfg 15 7 0
    adcCfg 2 1
    adcbufCfg -1 0 1 1 1
    profileCfg 0 60 2 6.40 69 394758 0 5.50 1 256 6000 0 0 50
    chirpCfg 0 0 0 0 0 0 0 1
    chirpCfg 1 1 0 0 0 0 0 4
    chirpCfg 2 2 0 0 0 0 0 2
    frameCfg 0 2 32 0 100 1 0
    lowPower 0 0
    guiMonitor -1 1 0 0 0 0 0
    cfarCfg -1 0 2 8 4 3 0 11 0
    cfarCfg -1 1 0 4 2 3 1 11 0
    multiObjBeamForming -1 1 0.5
    clutterRemoval -1 1
    calibDcRangeSig -1 0 -5 8 256
    extendedMaxVelocity -1 0
    bpmCfg -1 0 0 1
    lvdsStreamCfg -1 0 0 0
    compRangeBiasAndRxChanPhase 0.0 0.71313 -0.07993 0.80444 0.32242 0.65005 0.43036 0.63889 0.31528 0.56631 -0.49283 0.87103 -0.20547 0.80157 -0.02173 0.72357 -0.10864 0.39642 -0.74313 0.82355 -0.56723 0.82816 -0.34360 0.71524 -0.39929
    measureRangeBiasAndRxChanPhase 0 1.5 0.2
    CQRxSatMonitor 0 13 15 125 0
    CQSigImgMonitor 0 115 6
    analogMonitor 0 0
    aoaFovCfg -1 -90 90 -90 90
    cfarFovCfg -1 0 0 99.99
    cfarFovCfg -1 1 -80 80.00
    staticBoundaryBox -25 25 0 25 -1 2
    boundaryBox -25 25 0 25 -1 2
    gatingParam 5 2 2 2 10
    stateParam 100 1 2 500 5
    allocationParam 250 100 0.1 14 2 2
    maxAcceleration 0.1 0.1 0.1
    trackingCfg 1 2 250 20 20 260 100 90
    heatmapGenCfg -1 1 0 190 250 60.0 3.0 10
    staticDetectionCfg -1 0 -50.0 +50.0 -20.0 20.0 0.7 6.0 0.2 4 20.0
    sensorStart

    and because of higher frames per second I do not see any data on heatmap on demo visualizer but there is data on the teraterm. When I tried to reduce the frames per second in the .cfg I didn't see any data from both heatmap on demo visualizer and teraterm.

    Could you please suggest how do I proceed with this to check on demo visualizer?

    Regards,

    Divya Teja Settimali

  • 0 in reply to Divya Teja Settimali
    TI__Genius 13629 points

    Divya,

    A few things you can try:

    1) be sure to select the heatmap in the visualizer BEFORE sending the .cfg

    2) ensure that the frame rate is set to a value <5 (manually set this in the visualizer)

    3) set your PC performance to high to allow for the best speed

    Are you able to see the detected point cloud on the visualizer?

    Regards,

    Brennan