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AWR1642BOOST: Angle Estimation

Divya Harikumar
Expert 2020 points
Part Number: AWR1642BOOST

Hi,

I did read the doxygen document but it still remains unclear how the angle is estimated from range information.

The packet data seems to have information only regarding range and velocity.

I didn't quite understand  how the angle of detected object is computed from the packet format ? 

Regards,

Divya Harikumar

  • 0
    Expert 1310 points

    Hi Divya,

    AoA is estimated by taking the range-Doppler-slot from every receive channel into account. For more background theory, check out http://www.ti.com/lit/pdf/swra554.

    Which doyxgen did you read? For AoA estimation, the best would be to study the one which can found at packages/ti/datapath/dpc/dpu/aoaproc/docs/doxygen/html/index.html as this one has treats the topic with large extent.

    Best regards

  • 0 in reply to user6096953
    Expert 2020 points

    Hi,

    I do understand that the 2D-FFT will have peaks with differing phase and the measured phase difference (ω) can be used to estimate the angle of the object.

    But my question is "Is angle information available in the packet"?

    How can we extract phase difference?

    I read the doxygen documents from :ti/mmwave_sdk_02_01_00_04/packages/ti/demo/xwr16xx/mmw/docs/doxygen/html/index.html

    Is this the same as document that you referred? 

    Best regards,

    Divya Harikumar

  • 0 in reply to Divya Harikumar
    TI__Guru 69960 points

    Hi Divya,

    Based on Range and Azimuth you can calculate the angle wrt to sensor.

    This two info are sent over UART from the mmw demo.

    Regards,

    Jitendra

  • 0 in reply to Jitendra Gupta
    Expert 2020 points

    Hi Jitendra,

    In case of SRR demo,range information seems to be transmitted through UART but there seems to be no information about Azimuth.

    In that case,How can we get the angle at which the detected object is found?

    Best Regards,

    Divya Harikumar

  • 0 in reply to Divya Harikumar
    TI__Guru 69960 points

    Hi Divya,

    You need to refer the MSS and DSS source code to get the x/y of each detected objects.

    SRR: dss_main.c: SRR_DSS_SendProcessOutputToMSS() -> obj->detObjFinal

    dss_data_path.c: populateOutputs() -> detObjFinal[ik].x = detObj2D[ik].x;detObjFinal[ik].y = detObj2D[ik].y;

    Same data is being sent to MSS and then to PC over UART. You can dig up in the GUI source file as well how these data is being ploted.

    Regards,

    Jitendra