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AWR1642BOOST: There is strange and very close object point at (-0.06m, 0.07m) but nothing is there?

Joy Yang
Intellectual 325 points
Part Number: AWR1642BOOST


I use official demo app as https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer/ver/2.1.0/ to test if there is a strange and very close object point at (-0.06m, 0.07m) but nothing is there.

This object point does not move and is always there. No matter how many times I restart/reboot the radar.

Here is the config passing into AWR1642BOOST radar:

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 3 0
adcCfg 2 1
adcbufCfg -1 0 0 1 0
profileCfg 0 77 7 7 58 0 0  68 1 256 5500 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
bpmCfg -1 0 0 1
frameCfg 0 1 32 0 100 1 0
lowPower 0 1
guiMonitor -1 1 1 1 0 0 1
cfarCfg -1 0 2 8 4 4 0 5120
cfarCfg -1 1 0 8 4 4 0 5120
peakGrouping -1 1 1 1 1 255
multiObjBeamForming -1 1 0.5
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
clutterRemoval -1 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
nearFieldCfg -1 0 0 0
CQRxSatMonitor 0 3 4 127 0
CQSigImgMonitor 0 63 8
analogMonitor 1 1
lvdsStreamCfg -1 0 0 0
sensorStart

I have also test other configs and the results are the same.

% ***************************************************************
% Created for SDK ver:02.00
% Created using Visualizer ver:2.1.0.3
% Frequency:77
% Platform:xWR16xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.02
% Maximum Radial Velocity(m/s):1
% Radial velocity resolution(m/s):0.13
% Frame Duration(msec):100
% Range Detection Threshold (dB):20.51
% Doppler Detection Threshold (dB):20.51
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 3 0
adcCfg 2 1
adcbufCfg -1 0 0 1 0
profileCfg 0 77 429 7 57.14 0 0 70 1 256 5209 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
frameCfg 0 1 16 0 100 1 0
lowPower 0 1
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 0 8 4 4 0 7000
cfarCfg -1 1 0 4 2 3 0 7000
peakGrouping -1 1 1 1 1 255
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
nearFieldCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 123 0
CQSigImgMonitor 0 127 4
analogMonitor 1 1
sensorStart

My AWR1642BOOST sensor is look like:
https://drive.google.com/file/d/1LdazAD38Gdf5Du9fo6VBOHL_icRVfW1A/view?usp=sharing 

Do you have any advice?

Thanks.

  • 0
    TI__Mastermind 20605 points

    Hi Joy,

    I'm unable to view the data you have shared via Google drive. Would it be possible to share the same by directly uploading it to your response on this thread? Additionally, can you also confirm if:

    1. The object appears if you change the scene input to the radar.
    2. The object still exists if you block your radar with a metallic reflector.
    3. Any test source has been enabled in your code?

    Regards,

    Kaushik

  • 0
    Intellectual 325 points

    Hi Kaushik,

    1. The object appears if you change the scene input to the radar.

    >>> As you said, when I change the scene input to the radar, sometimes it still exists:

    Sometimes, it disappears:

    Here is a video that I hold radar on my hand and rotate, the object still exists and is located at a fixed/static position:

    2. The object still exists if you block your radar with a metallic reflector.

    >>> You mean putting a metallic mirror in front of the radar?

    3. Any test source has been enabled in your code?
    >>> I use official demo app.

    Thanks

  • 0 in reply to Joy Yang
    TI__Mastermind 20605 points

    Hi Joy,

    Thanks for the additional info. It looks like this point could be stemming from the static clutter in the scene or due to some DC component. Can you once try with the config clutterRemoval -1 1 instead of clutterRemoval -1 0.

    Regards,

    Kaushik

  • 0 in reply to Kaushik Gowda
    Intellectual 325 points

    Hi Kaushik,

    By doing so, it would ignore all the static objects. And some static objects are not noise at all.

  • +1 in reply to Joy Yang
    TI__Mastermind 20605 points

    Hi Joy,

    That is indeed correct. In this case, if it is static clutter in the scene, it would be removed. If it is a result of a DC component that is present in the signal, it would need to be removed. Can you please follow this particular DC range calib config (calibDcRangeSig) from the userguide and let me know if it helped?

    You can also change your config to calibDcRangeSig -1 1 -5 8 256 from calibDcRangeSig -1 0 -5 8 256

    Regards,

    Kaushik

  • 0 in reply to Kaushik Gowda
    Intellectual 325 points

    Hi Kaushik,

    Thanks. It works.

    I changed my config to calibDcRangeSig -1 1 -5 8 256 from calibDcRangeSig -1 0 -5 8 256

    It could be seem that the closest object points disappear after "number of chirps to average to collect DC signature".

    Here is the video:


    Best,

    Joy