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Original question:

AWR1843BOOST: Failed to build DSS project of Medium Range Radar project

AWR1843BOOST: Lab0011 MRR Beamsteering: Parking Option Not working in Beamsteering

Mostafa Besar
Intellectual 470 points
Part Number: AWR1843BOOST
Other Parts Discussed in Thread: AWR1843

Hello,

I have Three questions regarding Lab0011 MRR Beamsteering (mmWave Automotive Toolbox 3-2-0)

Q3. Regarding Clusters and Trackers options, what's difference between them, I notice both tracking me when I am moving on front of radar, the following images indicates Tracker selection in display option

- Clusters + Trackers + USRR options:

- Cluster + Tracker + USRR options:

Q2. Y-Z Plot [Elevation] not working in Beamsteering firmware, I flashed lab0007 mmr firmware on the device and ran beamsteering visualizer, I noticed [Y-Z] axis starts displaying objects fine.

Q3. Is multimode in lab0011 beamsteering work in USRR/SRR or USRR/MRR, I look at mmr_config_consts.h that two subframes MRR and USRR20 are defined, but in gui display option he mention SRR and USRR check box, I want to insure that beamsteering working on both MRR and USRR.

Thanks,

Mostafa

  • +1
    TI__Genius 15046 points

    Hi Mostafa,

    Mostafa Besar said:
    Regarding Clusters and Trackers options, what's difference between them, I notice both tracking me when I am moving on front of radar, the following images indicates Tracker selection in display option

    Clusters displayed are the output of the dbScan algorithm. Trackers are from the output of the extended Kalmann filter. They both have different functionalities. Clustering is used to get clusters of interest from individual points. The tracker tracks points across frames, producing reliable data. You can get some idea of thei final output in the developer guide's output format section.

    Mostafa Besar said:
    Q2. Y-Z Plot [Elevation] not working in Beamsteering firmware, I flashed lab0007 mmr firmware on the device and ran beamsteering visualizer, I noticed [Y-Z] axis starts displaying objects fine.

    I confirmed this, the beamsteering lab does not export elevation information (z for all points is zero). I will talk to the developer of the lab and see why this was done.

    Mostafa Besar said:
    Q3. Is multimode in lab0011 beamsteering work in USRR/SRR or USRR/MRR, I look at mmr_config_consts.h that two subframes MRR and USRR20 are defined, but in gui display option he mention SRR and USRR check box, I want to insure that beamsteering working on both MRR and USRR.

    From the code, I can see that the configurations used are from the .h files "mrr_config_chirp_design_USRR30.h" and "mrr_config_chirp_design_MRR120.h". In the GUI, the checkbox for SRR actually refers to the MRR pointcloud.

    Regards,

    Aayush

  • 0 in reply to Aniket Mahajan
    Intellectual 470 points

    Hello Aayush,

    1. Regarding Tracker, I checked the developer guide "Medium Range Radar 2.0 Beam Steering with AWR1843" page 10, I am confused about inputs and outputs of Tracking algorithm "Extended Kalman Filter". As mentioned, the input of EKF is [Range, Velocity, sin of Azimuth]. where did velocity come from. I know input comes from clustering output, but clustering doesn't output any velocity as mentioned in page 9, Is velocity comes from previous steps like FFT 2D?

    and what's the output of Tracking Algorithm

    Aniket Mahajan said:
    In the GUI, the checkbox for SRR actually refers to the MRR pointcloud.

    2. So you mean "SRR" checkbox is just mistyping, and should be "MRR"?

    Thanks

    Mostafa

  • +1 in reply to Mostafa Besar
    TI__Genius 15046 points

    Hi Mostafa,

    The speed of the strongest member of a cluster is used as input to the tracking algorithm. You can see this in the clusteringDBscan_calcInfoFixed function in the source code. This function populates trackingInput, which is used as input to the tracker.

    The tracker output from the device is: x, y coordinate of target, velocity in x, y direction, cluster size in x, y direction. You can find the same in the "Tracking Output Format" section of the developer's guide for the lab.

    Mostafa Besar said:
    2. So you mean "SRR" checkbox is just mistyping, and should be "MRR"?

    This is correct. I think this is the case because the MRR and the MRR GUI were built by modifying the existing SRR lab. So this is a remnant of the SRR lab. It really just is MRR.

    Regards,

    Aayush

  • 0 in reply to Aniket Mahajan
    Intellectual 470 points

    Hello, Aayush,

    Last question, What's the minimum distance for MMR mode, As mentioned in "mrr 2 0 Release Notes" guide. In USRR/MRR mode only MRR subframe has correct output, so I want to know if I used only output of MRR subframe, what will be the minimum distance that mmr mode perfectly gives accurate ouput

    As I know USRR has better result in small distances than MMR.

    Thanks,

    Mostafa 

  • 0 in reply to Aniket Mahajan
    Intellectual 470 points

    Hello Aayush,

    I want to know what's the minimum range of lab0007 MRR project can detect? 

    Thanks,

    Mostafa

  • 0 in reply to Mostafa Besar
    TI__Genius 15046 points

    Hi Mostafa,

    The MRR code returns distance in multiples of PROFILE_USRR_RANGE_RESOLUTION_METERS, which is a macro defined depending on the configuration you use (USRR20 or USRR30). I would recommend printing this or setting a breakpoint to read this value with CCS debug. I imagine this would be around 4 centimeters. So the radar would not be able to report a range lower than four centimeters.

    Regards,
    Aayush
  • 0 in reply to Aniket Mahajan
    Intellectual 470 points

    Hello Aayush,

    Even I enabled only MRR120 as single frame?

    Aniket Mahajan said:
    I imagine this would be around 4 centimeters

    Thanks,

    Mostafa

  • 0 in reply to Mostafa Besar
    TI__Genius 15046 points

    Hi,

    For MRR, this would be given by the macro PROFILE_MRR_RANGE_RESOLUTION_METERS. That would be closer to 35-40cm for MRR. 

    Regards,

    Aayush