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IWRL6432: Problem with detection range of IWRL6432 sensor mounted on ceiling

Jung-hun Yun
Prodigy 20 points
Part Number: IWRL6432

Tool/software:

The IWRL6432 sensor was mounted on the ceiling facing the floor.
When detecting a standing person, a problem occurs where the distance between the two side areas of the sensor increases.
In the picture below, the red line graph shows the change in distance (Range) of the detected points.

Is there any way to solve this problem?
Below is the configuration file used.

sensorStop 0
userconfigErase 0
deviceInfo 0xDEADDEAD 0xDEADDEAD 0xDEADDEAD 0x00000001 0 0 0 1
frameCfg 2 0 200 64 100 0
channelCfg 7 3 0
chirpComnCfg 22 0 0 128 4 34 0
chirpTimingCfg 6 21 0 15.11 60

guiMonitor 2 3 0 0 0 1 0 0 1 1 1
sigProcChainCfg 32 2 3 2 8 8 1 0.3
cfarCfg 2 4 2 2 0 3 0 0.5 0 1 1 1
sensorPosition 0 0 0 0 0
aoaFovCfg -80 80 -40 40
microDopplerCfg 1 0 0.5 0 1 1 12.5 87.5 1
classifierCfg 0 3 4
clutterRemoval 1
rangeSelCfg 0.5 3.0
compRangeBiasAndRxChanPhase 0.0 1.00000 0.00000 -1.00000 0.00000 1.00000 0.00000 -1.00000 0.00000 1.00000 0.00000 -1.00000 0.00000

antGeometryCfg 0 0 1 1 0 2 0 1 1 2 0 3 2.418 2.418
factoryCalibCfg 1 0 40 0 0x1ff000

trackingCfg 1 2 100 3 62.30 190.0 100
staticBoundaryBox -3.0 3.0 0.5 2.2 0 3
boundaryBox -3.5 3.5 0.5 2.8 -0.5 3
gatingParam 1.5 1 1 1 4
stateParam 3 3 40 50 5 200
allocationParam 5 15 0.1 3 2.0 20
maxAcceleration 0.4 0.4 0.1
presenceBoundaryBox -3.0 3.0 0.5 2.2 0 3


sensorStart 0 0 0 0

Note:
The position parameters of the installed sensor are set to 0, so world space and sensor space are the same.
The Elevation FFT Size is 2 and the Z axis is not used.

Please let me know how to solve it.

  • 0
    TI__Mastermind 20351 points

    Hello, 

    I'm slightly confused about what the issue is that you are reporting, to me it would make sense that the range of the detected points increases as the person moves away from x=0. Is the issue that the Y value of the detected points is changing more than your expectation? 

    Best Regards,

    Josh

  • 0 in reply to Josh Dye
    Prodigy 20 points

    Yes, the Y value is outside the expected range.
    Since the height of a standing person is always the same when moving, I think the distance as Y value at which the point is detected should also be the same or close.
    However, a problem occurs when a point is detected near the red line in the attached picture above.
    This is a problem in applications that do not use points close to the floor.
    In the case of an application that only detects targets up to 2m from the ceiling, the Y values ​​of the detected points will have a value greater than 2m as you move away from the sensor to both ends based on the X value. In this case, the problem of losing track of the target occurs.

  • 0 in reply to Jung-hun Yun
    TI__Mastermind 20351 points

    Hello, 

    Thank you for the response. I am looking into this and will get back to you shortly. Thank you for your patience. 

    Best Regards,

    Josh

  • +1 in reply to Josh Dye
    TI__Mastermind 20351 points

    Hello, 

    Sorry for the delay here. Are you still facing this issue? How far away from x=0 does the issue occur? It may just be that as the person moves to the side, their head is no longer in the FOV of the radar and so the points are only detected from their chest or lower.

    Regards,

    Josh

  • +1 in reply to Josh Dye
    Prodigy 20 points

    Hello,

    Thank you for your answer. This is thought to be caused by a decrease in the number of points detected near the end of the FOV.
    Because the number of points on the floor is much greater near the end of the FOV, the track is seen being dragged towards the floor.
    It has been improved to some extent by setting RADAR parameters.