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IWR6843AOP: Vital Signs with People Tracking Demo

Jenn-Bing Ong
Prodigy 75 points
Part Number: IWR6843AOP
Other Parts Discussed in Thread: IWR6843ISK

Tool/software:

Hi,

We are currently testing the AOP vital signs with people tracking firmware for commercial deployment.

Following the TI demo (https://dev.ti.com/tirex/explore/node?node=A__AI2TiFgX8aooQmPHdYLpbA__radar_toolbox__1AslXXD__LATEST&placeholder=true), we are able to run the radar configuration as shown below.

However, we find that the chirp configuration provided by TI can enable BPM-MIMO for the ISK module, not the AOP module.
chirpCfg 0 0 0 0 0 0 0 5
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 5
fineMotionCfg -1 1
bpmCfg -1 1 0 2

We try to test the chirp configuration that enables BPM-MIMO for AOP, but it does not work (i.e., AOP radar does not output any data).
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 6
chirpCfg 2 2 0 0 0 0 0 6
fineMotionCfg -1 1
bpmCfg -1 1 1 2

Have TI tried to enable BPM-MIMO for AOP for this particular demo ? If so, could you share the configuration file.

Secondly, what is the sensing range and error rate if the subject's chest is located at the radar's boresight ? How would the performance degrades if the subject's chest is located at a distance from the radar boresight ?

Best Regards,
Jenn Bing


% SDK Parameters
% See the SDK user's guide for more information
% "C:\ti\mmwave_sdk_[VER]\docs\mmwave_sdk_user_guide.pdf"
sensorStop
flushCfg
pmicCfg 1 1
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
lowPower 0 0
%
% Detection Layer Parameters
% See the Detection Layer Tuning Guide for more information
% "<RADAR_TOOLBOX_INSTALL_DIR>\source\ti\examples\People_Tracking\docs\3D_people_tracking_detection_layer_tuning_guide.pdf"
profileCfg 0 60.75 30.00 1.00 10.00 0 0 200.0 1 96 10785.00 2 1 36
chirpCfg 0 0 0 0 0 0 0 5
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 5
frameCfg 0 2 48 0 90.00 1 0
dynamicRACfarCfg -1 4 4 2 2 8 12 4 12 5.00 8.00 0.40 1 1
staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0
dynamicRangeAngleCfg -1 0.75 0.0010 1 0
dynamic2DAngleCfg -1 1.5 0.0300 1 0 1 0.30 0.85 8.00
staticRangeAngleCfg -1 0 8 8
fineMotionCfg -1 1
bpmCfg -1 1 0 2
antGeometry0 -1 -1 0 0 -3 -3 -2 -2 -1 -1 0 0
antGeometry1 -1 0 -1 0 -3 -2 -3 -2 -3 -2 -3 -2
antPhaseRot 1 -1 1 -1 1 -1 1 -1 1 -1 1 -1
fovCfg -1 70.0 20.0
compRangeBiasAndRxChanPhase 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
%
% Tracker Layer Parameters
% See the Tracking Layer Tuning Guide for more information
% "<RADAR_TOOLBOX_INSTALL_DIR>\source\ti\examples\People_Tracking\docs\3D_people_tracking_tracker_layer_tuning_guide.pdf"
staticBoundaryBox -3 3 0.3 5.5 0 3
boundaryBox -4 4 0.5 6 0 3
sensorPosition 2 0 15
gatingParam 3 2 2 2 10
stateParam 3 3 12 215 50 6000
allocationParam 20 100 0.1 20 0.5 20
trackingCfg 1 2 800 1 46 96 90
presenceBoundaryBox -3 3 0.3 5.5 0 3
maxAcceleration 0.1 0.1 0.1
%
% Vital Sign Parameters
% See the 3D People Counting with Vital Sign User's Guide for more information
%
vitalsign 15 300
VSRangeIdxCfg 0 21
%
% Start the Sensor
%
sensorStart

  • 0
    TI__Genius 11730 points

    Hi,

    BPM MIMO mode can be enabled only on IWR6843ISK. In IWR6843AOP, as antennas are on the package, Tx and Rx are placed closeby. Enabling BPM mode will increase the coupling between Tx and Rx. So, it is recommended to use TDM mode in IWR6843AOP

    Demo works till 6m from boresight. Breathing rate can provide a accuracy of +/-5 and heart rate can be in the range of +/-10 BPM

    Accuracy decreases with the increase in range, also, it is possible that track will be lost as the range increases further

    Regards

  • 0 in reply to Abhishek Karkisaval
    Prodigy 75 points

    Hi Abhishek Karkisaval,

    Thanks for sharing the results and observations for vital sign detection.

    For IWR6843AOP, BPM-MIMO has been enabled for fine-motion detection in people tracking, as shown below in TI Resource Explorer.

    https://dev.ti.com/tirex/explore/node?node=A__AJy2dB7pfZ0nJqp9U0xVSg__radar_toolbox__1AslXXD__LATEST&placeholder=true

    I am curious why BPM-MIMO cannot be enabled for vital sign detection using IWR6843AOP, this mode should improve the sensitivity and accuracy of the detection.

    Best Regards,
    Jenn Bing

  • 0 in reply to Jenn-Bing Ong
    TI__Genius 11730 points

    Hi Jenn Bing

    In the configuration, vital_signs_AOP_2m.cfg and vital_signs_AOP_6m.cfg, BPM is enabled. It is the second parameter in bpmCfg CLI which enables BPM

    The third and the fourth parameter are the chirp index.

    bpmCfg -1 1 0 2

    Please refer to mmwave_sdk_03_06_02_00-LTS\docs\mmwave_sdk_user_guide.pdf

    Regards

  • 0 in reply to Abhishek Karkisaval
    Prodigy 75 points

    Hi Abhishek Karkisaval,

    Thank you very much for your patience.

    For vital sign detection, I have refered to the configuration files for AOP and ISK.
    (i.e., vital_signs_AOP_2m.cfg, vital_signs_AOP_6m.cfg, vital_signs_ISK_2m.cfg, vital_signs_ISK_6m.cfg)

    All the configuration files enable BPM using the same chirp configuration as below -

    profileCfg 0 60.75 30.00 1.00 10.00 0 0 200.0 1 96 10785.00 2 1 36
    chirpCfg 0 0 0 0 0 0 0 5
    chirpCfg 1 1 0 0 0 0 0 2
    chirpCfg 2 2 0 0 0 0 0 5
    frameCfg 0 2 48 0 90.00 1 0
    bpmCfg -1 1 0 2

    From what I understand, BPM is enabled using different chirp configuration for ISK and AOP as shown below (Please refer to the TI Resource Explorer - 3D People Tracking). However, for all the configuration files for vital sign detection, BPM is enabled using the above configuration meant for ISK, not AOP.

    Why for vital sign detection we cannot use the BPM-MIMO chirp configuration for AOP as shown below ? It would improve the sensing performance because we are currently using the IWR6843AOP radar for vital sign detection.

    chirpCfg 0 0 0 0 0 0 0 1
    chirpCfg 1 1 0 0 0 0 0 6
    chirpCfg 2 2 0 0 0 0 0 6
    bpmCfg -1 1 1 2

    Best Regards,
    Jenn Bing

  • 0 in reply to Jenn-Bing Ong
    TI__Genius 11730 points

    Hi Jenn Bing,

    If you use the bpmCfg -1 1 1 2, TX0 is never enabled although it is enabled in channelCfg. You can only have 2 Tx enabled simultaneously in BPM-MIMO mode. bpmCfg -1 1 0 2 makes sure, in chirp 1, only Tx0 is active, chirp 2 has Tx1+Tx2 and chirp 2 has Tx1-Tx2. As AOP has Tx1 and Tx2 in the same azimuth, it is recommended you use Tx1 and Tx2 simultaneously 

    Regards 

  • 0 in reply to Abhishek Karkisaval
    Prodigy 75 points

    Hi Abhishek Karkisaval,

    For AOP vital sign detection, have you tested the chirp configuration below for BPM.

    chirpCfg 0 0 0 0 0 0 0 1
    chirpCfg 1 1 0 0 0 0 0 6
    chirpCfg 2 2 0 0 0 0 0 6
    bpmCfg -1 1 1 2

    Kindly share the configuration file if you have tested it. Thanks.

    Best Regards,
    Jenn Bing

  • 0 in reply to Jenn-Bing Ong
    TI__Genius 11730 points

    Hi

    Vital signs chain has dependency on the way antenna are placed. You can use the below configuration, which works with AOP vital signs

    chirpCfg 0 0 0 0 0 0 0 2
    chirpCfg 1 1 0 0 0 0 0 5
    chirpCfg 2 2 0 0 0 0 0 5
    bpmCfg -1 1 1 2

    Regards

  • 0 in reply to Abhishek Karkisaval
    Prodigy 75 points

    Hi Abhishek Karkisaval,

    You mentioned that " AOP has Tx1 and Tx2 in the same azimuth, it is recommended you use Tx1 and Tx2 simultaneously".

    However, the chirp configuration below uses Tx0 and Tx2 simultaneously, so this BPM may not be optimal for AOP.

    chirpCfg 0 0 0 0 0 0 0 2
    chirpCfg 1 1 0 0 0 0 0 5
    chirpCfg 2 2 0 0 0 0 0 5
    bpmCfg -1 1 1 2

    Hence, it may be better to use ISK for vital sign detection with this chirp configuration.

    Best Regards,
    Jenn Bing

  • 0 in reply to Jenn-Bing Ong
    TI__Mastermind 20801 points

    Hi Jenn Bing, 

    Abhishek is currently out of the office. He will reply when he returns next week. 

    Best Regards,

    Josh

  • +1 in reply to Josh Dye
    TI__Genius 11730 points

    Hi Jenn Bing

    Yes, it is recommended to use TDM for AOP vitals signs and you can use BPM for ISK

    Regards

  • 0 in reply to Abhishek Karkisaval
    Prodigy 75 points

    Hi Abhishek Karkisaval,

    Thanks for the recommendation.

    You mentioned that "Vital signs chain has dependency on the way antenna are placed". May I know is it possible to change the radar firmware so that the BPM configuration below for AOP can be used for vital sign detection ? Any potential issue that you can foresee if we modify the AOP radar firmware to do this ?

    chirpCfg 0 0 0 0 0 0 0 1
    chirpCfg 1 1 0 0 0 0 0 6
    chirpCfg 2 2 0 0 0 0 0 6
    bpmCfg -1 1 1 2

    If this is achievable, could you guide us on how to modify the AOP radar firmware ? Specifically, which parameters or parts of the vital sign chain that should we change to achieve BPM for AOP ?

    Thank you very much.

    Best Regards,
    Jenn Bing

  • 0 in reply to Jenn-Bing Ong
    TI__Genius 11730 points

    Hi Jenn Bing

    First, you need to check if you are able to track the person consistently with the BPM configuration you have.

    If so, azimuth and elevation fft are performed at the centroid of the tracked object before you extract the phase for BR/HR calculation

    You will have to modify the inputs used for azimuth and elevation fft based on the antenna structure you are using

    Regards

  • 0 in reply to Abhishek Karkisaval
    Prodigy 75 points

    Hi Abhishek Karkisaval,

    Thank you very much for your detailed explanation.

    Best Regards,
    Jenn Bing