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Compiler/IWR1642: 1642 Detecting the position of moving objects is not accurate, what shoud i do?

Mr.Wang
Prodigy 60 points
Part Number: IWR1642

Tool/software: TI C/C++ Compiler

I have a piece of iron that is 1m wide and 10cm long and placed 1m in front of the radar. When I turn the iron piece, the radar detects that the position of the iron piece has a large error in the X-axis direction. How can I solve this problem?

  • Former Member
    0 Former Member
    Hello,

    Can you describe what kind of error you are seeing? What is the order of magnitude of the error? The Y and Z coordinate position is correct?

    Amanda
  • 0 in reply to Former Member
    Prodigy 60 points

    My iron piece is actually placed at the position where the x-axis is 0. When the iron piece is stationary, the position error of the radar detection is small, but when the iron piece rotates, the X-axis position detected by the radar will reach 0.6m~1.5m, the same is true for the error range y-axis. In fact, the iron piece has a width of only 10 cm. In addition, my IWR1642 is unable to measure z-axis data.

    Here is my profile:

    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 0 0 1 224
    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

    Regards,
    Jun Wang

  • Former Member
    0 Former Member in reply to Mr.Wang

    Hello Jun,

    There are a couple things that can be considered:

    1) Is the error low in the stationary case regardless of the rotation angle of the bar (ie rotate the bar. stop it. then take measurement)? I am asking because if we consider the bar as flat reflective surface if it is angled so that the signal is deflected away from the sensor instead of reflected back then the effective SNR decreases. Then the measured range reported would be erroneous or something else in the scene. 

    2) Can you take the measurement with the rotating bar with static clutter removal enabled? Change to clutterRemoval -1 1. In this setting you will only get detected objects for objects that are moving this will help in the case that there are strong static objects in the scene that are being detected instead of the moving bar.

    3) In the mmWave visualizer there is a real time tuning option that lets you adjust CFAR thresholds reducing the threshold enables detection of lower SNR objects you may be able to enable detection of the bar by adjusting the threshold values. This would be assuming that the erroneous measurements now are occurring because you are detecting some other stronger object in the scene and missing the detection of the moving bar.

    Amanda

  • 0 in reply to Former Member
    Prodigy 60 points
    Hello Amanda,

    Thank you for your reply, I will try it according to your suggestion.