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IWR6843AOP: Improve max range detection in 3D Tracking People application (Wall mount)

Jo Martel
Prodigy 40 points
Part Number: IWR6843AOP

Tool/software:

Hi everyone,

I've been working with the IWR6843AOP sensor using the 3D People Tracking demo, with the sensor mounted on a wall at a 15° downward tilt. I've run several tests, adjusting the detection and tracking parameters across different configurations. I'm using the IWR6843AOP EVM board and configuring its parameters based on the documentation in Section 4 of the 3D People Tracking Demo Detection Layer Tuning Guide.

However, in nearly all cases, the maximum detection range caps at around 12.5 meters. Beyond this distance, no point cloud is detected, and no target is tracked.

In my most recent test, I increased the transmission power by configuring the txOutPowerBackoff to 0 dB, which did result in extended detection up to 14 meters in some cases—but with significantly more background noise throughout the reading.

I’d like to understand whether:

  • There’s something potentially misconfigured in my setup that's causing this limitation, or
  • The sensor is inherently limited to around 12.5 meters in most real-world scenarios, despite parameter tuning.

Any insights or suggestions would be greatly appreciated!

Here my config file.

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
lowPower 0 0
profileCfg 0 60.00 30.00 25.00 59.10 65793 0 30 1 64 2000.00 2 1 42 
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 96 0 60.00 1 0
dynamicRACfarCfg -1 4 4 2 2 8 12 4 12 10 8.00 0.40 1 3
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 3.0 0.0300 1 0 1 0.30 0.85 8.00
staticRangeAngleCfg -1 0 8 8
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 70.0
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
staticBoundaryBox -5 5 2 18 0 3
boundaryBox -5 5 0.5 20 0 3
sensorPosition 2 0 15
gatingParam 3 2 2 3 4
stateParam 3 3 12 500 5 6000
allocationParam 12 60 0.1 10 0.5 20
maxAcceleration 0.1 0.1 0.1
trackingCfg 1 2 800 30 46 96 60
presenceBoundaryBox -5 5 0.5 20 0 3
sensorStart