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IWR6843: Point cloud issue while CFAR threshold is low

Wesley He
Expert 6205 points
Part Number: IWR6843

Hi team,

customer use IWR6843ISK + SDK3.5 for test, while he set the CFAR threshold to 5dB and with hand/Anti-static bag to cover the ISK board, then all the points cloud will goes to one side.

The maximum points cloud limitation is change to 1000 in code. So it's not the maximum_point limitation.

The configuration used is list below, can you please help to provide the comments why all the points cloud in GUI goes to one side?

sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 5 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 334 7 79.43 0 0 50 1 896 12499 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
frameCfg 0 1 16 0 500 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 5 0
cfarCfg -1 1 0 4 2 3 1 5 0
multiObjBeamForming -1 1 0.5
clutterRemoval -1 1
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 1
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 121 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 29.99
cfarFovCfg -1 1 -1.51 1.51
calibData 0 0 0
sensorStart

Regards,

Wesley

  • 0
    TI__Expert 6205 points

    Because the SDK is using the range-doppler heatmap. So it's hard to understand why all the AOA points goes to left side.

  • 0 in reply to Wesley He
    TI__Mastermind 23725 points

    Hi Wesly

    The object is in near field range so a combination of following can happen:

    1. AoA algorithm doenst  resolve near field objects

    2. Rx can be saturated because of strong reflection from film.

    We may be able to narrow down the issue to combination of data and processing artifact.  Do we know what is the intent of this try out.

    Also does the detection work as expected when the near range film is removed.

    Thank you,

    Vaibhav

  • 0 in reply to Vaibhav Mahimkar
    TI__Expert 6205 points

    Hi Vaibhav,

    it may have some unkonwn issue on the signal processing chain.

    And the purpose for this try is for the mapping application in robotics. Customer need a rich points cloud but not invest on the algorithm.

    The ROS demo points cloud is not rich enough for their application.

    Thanks,

    Regards,

    Wesley

  • 0 in reply to Wesley He
    TI__Mastermind 23725 points

    Hi Wesley,

    Thank you for mentioning the intent.  How does covering the antenna with metallic film help with getting richer point cloud, it may not be good representation for the real world scenario.  Without modifying the algorithm  cfar tuning,  ungrouping the points would the option to try and increase the number of points.

    Can we look at :

    what the scene, range azimuth plots, range elevation points look like.

    Are seeing multiple points across various angles in similar range bins. 

    Thank you,

    Vaibhav