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Original question:

IWR6843AOP: Max range for people detection

IWR6843AOP: People Counting

Mark Philip Felipe
Genius 9705 points
Part Number: IWR6843AOP
Other Parts Discussed in Thread: TIDEP-01006, IWR6843ISK, IWR6843ISK-ODS,

Hi Team, seeking some inputs

1. what the maximum range for people detection and whether this changes based on whether I choose the AOP vs non AOP vs ISK vs EVM

2. I noticed that for most of the demos, even those related to automotive radar applications, the mmWave chip is stationary. However, with [TIDEP-01006] the demo board is mounted to a moving robot. The GUI of captured data shows the surroundings as fixed and the robot/sensor as moving. Is a MEMs accelerometer required to calibrate the sensor for applications like this where it will be mounted to a moving object? Or no extra hardware is needed even for applications when the sensor is mobile?

Thank you in advance.

-Mark

  • 0
    TI__Genius 17265 points

    Hi Mark,

    1. To get a rough idea, you can look at the table on the following page:

    https://dev.ti.com/tirex/explore/node?a=VLyFKFf__4.12.0&node=A__ADj5MCsl2XD9I0lkJf1HDg__com.ti.mmwave_industrial_toolbox__VLyFKFf__4.12.0

    Please note, the values listed on that antennas page are generic ranges based on RCS for typical chirp configurations (This quotes 75m for ISK, 60m for ODS/AOP). This can be extended using the beamforming techniques used in the Long Range People Detection lab, or reduced in the case of the 3DPC to increase the robustness of the angle estimation and tracking. For example, the antenna page listed above lists 75m range for the 6843ISK, but with the techniques in the LRPD lab, you can increase this to 120m, but for 3D People Counting, this is likely reduced to around 30m. For People Counting, there are 3 evaluation modules (EVMS) to consider

    • IWR6843ISK
    • IWR6843ISK-ODS
    • IWR6843AOPEVM

    First, I would consider ISK vs ODS/AOP. The ODS and AOP have very similar antenna patterns which leads to similar angular resolution and angular FOV. Typically, we see that the AOP/ODS is better suited for applications where the device is mounted on ceiling looking downwards (leveraging higher FOV) while ISK is more suited for wall mount scenarios.

    If you decide on AOP/ODS, then the decision is primarily based on packaging. If you have lots of antenna design experience and think you could design an antenna layout which best suits your use case, then starting with the ODS may be best to allow that flexibility down the road. However, if you want to skip any potential antenna design and just use what we can provide, the AOP is likely the better solution, since the device will come with the Antenna On Package.

    2. In the TI design you referred to, we are using a ROS environment. The device will work regardless of whether you have odometry data, however if the radar is on a moving platform, the doppler information for the detected points/tracks will be relative to the sensor, not relative to the world. For example, if the robot is heading straight towards a wall at 1m/s, the points detected will have a doppler velocity of 1m/s towards you. If you are able to provide odometry information to the device (or to ROS), it would then be possible remove the velocity of the robot from the doppler info. However, this is certainly a challenge since the accuracy of your odometry will directly impact the accuracy of the point cloud doppler info.

    You can also take a long at the Mobile Tracker lab at the link below, which shows an example of how our tracker algorithm can be used on a mobile platform without odometry information.

    https://dev.ti.com/tirex/explore/node?a=VLyFKFf__4.12.0&node=A__APYP3qSkFFW.O1Ruig7c-w__com.ti.mmwave_industrial_toolbox__VLyFKFf__4.12.0

    Let me know if there are further questions.

    Best Regards,
    Alec