Radar Model
radarsimpy.Transmitter
- class radarsimpy.Transmitter(f, t, tx_power=0, pulses=1, prp=None, f_offset=None, pn_f=None, pn_power=None, channels=None)[source]
Bases:
objectA class defines basic parameters of a radar transmitter
- Parameters:
f (float or numpy.1darray) –
Waveform frequency (Hz). If
fis a single number, radar transmits a single-tone waveform.For linear modulation, specify
fwith[f_start, f_stop].fcan alse be a 1-D array of an arbitrary waveform, specify the time witht.t (float or numpy.1darray) – Timing of each pulse (s).
tx_power (float) – Transmitter power (dBm)
pulses (int) – Total number of pulses
prp (float) –
Pulse repetition period (s).
prp >= pulse_length. If it isNone,prp = pulse_length.prpcan alse be a 1-D array to specify different repetition period for each pulse. In this case, the length of the 1-D array should equals to the length ofpulsesf_offset (numpy.1darray) – Frequency offset for each pulse (Hz). The length must be the same as
pulses.pn_f (numpy.1darray) – Frequency of the phase noise (Hz)
pn_power (numpy.1darray) – Power of the phase noise (dB/Hz)
channels (list[dict]) –
Properties of transmitter channels
[{
- location (numpy.1darray) –
3D location of the channel relative to radar’s location [x, y, z] (m)
- polarization (numpy.1darray) –
Antenna polarization [x, y, z].
default = [0, 0, 1] (vertical polarization)Example:Vertical polarization [0, 0, 1] Horizontal polarization [0, 1, 0] Right-handed circular polarization [0, 1, 1j] (from the point of view of the source) Left-handed circular polarization [0, 1, -1j] (from the point of view of the source)
- delay (float) –
Transmit delay (s).
default 0
- azimuth_angle (numpy.1darray) –
Angles for azimuth pattern (deg).
default [-90, 90]
- azimuth_pattern (numpy.1darray) –
Azimuth pattern (dB).
default [0, 0]
- elevation_angle (numpy.1darray) –
Angles for elevation pattern (deg).
default [-90, 90]
- elevation_pattern (numpy.1darray) –
Elevation pattern (dB).
default [0, 0]
- pulse_amp (numpy.1darray) –
Relative amplitude sequence for pulse’s amplitude modulation. The array length should be the same as pulses.
default 1
- pulse_phs (numpy.1darray) –
Phase code sequence for pulse’s phase modulation (deg). The array length should be the same as pulses.
default 0
- mod_t (numpy.1darray) –
Time stamps for waveform modulation (s).
default None
- phs (numpy.1darray) –
Phase scheme for waveform modulation (deg).
default None
- amp (numpy.1darray) –
Relative amplitude scheme for waveform modulation.
default None
}]
- Variables:
rf_prop (dict) –
RF properties
tx_power: Transmitter power (dBm)
pn_f: Frequency of the phase noise (Hz)
pn_power: Power of the phase noise (dB/Hz)
waveform_prop (dict) –
Waveform properties
f: Waveform frequency (Hz)
t: Timing of each pulse (s)
bandwidth: Transmitting bandwidth (Hz)
pulse_length: Transmitting length (s)
pulses: Number of pulses
f_offset: Frequency offset for each pulse
prp: Pulse repetition time (s)
pulse_start_time: Start time of each pulse
txchannel_prop (dict) –
Transmitter channels
size: Number of transmitter channels
delay: Tx start delay (s)
grid: Ray tracing grid size (deg)
locations: Location of the Tx channel [x, y, z] m
polarization: Polarization of the Tx channel
waveform_mod: Waveform modulation parameters
pulse_mod: Pulse modulation parameters
az_angles: Azimuth angles (deg)
az_patterns: Azimuth pattern (dB)
el_angles: Elevation angles (deg)
el_patterns: Elevation pattern (dB)
antenna_gains: Tx antenna gain (dB)
Waveform
█ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ prp █ █ +-----------+ █ █ +---f[1]---------> / / / █ █ / / / █ █ / / / █ █ / / / █ █ / / / ... █ █ / / / █ █ / / / █ █ / / / █ █ +---f[0]--->/ / / █ █ +-------+ █ █ t[0] t[1] █ █ █ █ Pulse +--------------------------------------+ █ █ modulation |pulse_amp[0]|pulse_amp[1]|pulse_amp[2]| ... █ █ |pulse_phs[0]|pulse_phs[1]|pulse_phs[2]| ... █ █ +--------------------------------------+ █ █ █ █ Waveform +--------------------------------------+ █ █ modulation | amp / phs / mod_t | ... █ █ +--------------------------------------+ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █
radarsimpy.Receiver
- class radarsimpy.Receiver(fs, noise_figure=10, rf_gain=0, load_resistor=500, baseband_gain=0, bb_type='complex', channels=None)[source]
Bases:
objectA class defines basic parameters of a radar receiver
- Parameters:
fs (float) – Sampling rate (sps)
noise_figure (float) – Noise figure (dB)
rf_gain (float) – Total RF gain (dB)
load_resistor (float) – Load resistor to convert power to voltage (Ohm)
baseband_gain (float) – Total baseband gain (dB)
bb_type (string) – Baseband data type,
complexorreal. Deafult iscomplexchannels (list[dict]) –
Properties of transmitter channels
[{
- location (numpy.1darray) –
3D location of the channel relative to radar’s location [x, y, z] (m)
- polarization (numpy.1darray) –
Antenna polarization [x, y, z].
default = [0, 0, 1] (vertical polarization)Example:Vertical polarization [0, 0, 1] Horizontal polarization [0, 1, 0] Right-handed circular polarization [0, 1, 1j] (from the point of view of the source) Left-handed circular polarization [0, 1, -1j] (from the point of view of the source)
- azimuth_angle (numpy.1darray) –
Angles for azimuth pattern (deg).
default [-90, 90]
- azimuth_pattern (numpy.1darray) –
Azimuth pattern (dB).
default [0, 0]
- elevation_angle (numpy.1darray) –
Angles for elevation pattern (deg).
default [-90, 90]
- elevation_pattern (numpy.1darray) –
Elevation pattern (dB).
default [0, 0]
}]
- Variables:
rf_prop (dict) –
RF properties
rf_gain: RF gain of the receiver (dB)
noise_figure: Receiver noise figure (dB)
bb_prop (dict) –
Baseband properties
fs: Sampling rate
load_resistor: Load resistor (ohm)
baseband_gain: Baseband gain (dB)
bb_type: Baseband type,
realorcomplex
rxchannel_prop (dict) –
Receiver channels
size: Number of receiver channels
locations: Location of the Rx channel [x, y, z] m
polarization: Polarization of the Rx channel
az_angles: Azimuth angles (deg)
az_patterns: Azimuth pattern (dB)
el_angles: Elevation angles (deg)
el_patterns: Elevation pattern (dB)
antenna_gains: Rx antenna gain (dB)
Receiver noise
█ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ +-------------+ █ █ | Rx Antenna | █ █ +------+------+ █ █ | n1 = 10*log10(boltzmann_const * noise_temp * 1000) █ █ ↓ + 10*log10(noise_bandwidth) (dBm) █ █ +------+------+ █ █ | RF Amp | █ █ +------+------+ █ █ | n2 = n1 + noise_figure + rf_gain (dBm) █ █ ↓ n3 = 1e-3 * 10^(n2/10) (Watts) █ █ +------+------+ █ █ | Mixer | █ █ +------+------+ █ █ | n4 = sqrt(n3 * load_resistor) (V) █ █ ↓ █ █ +------+------+ █ █ |Baseband Amp | █ █ +------+------+ █ █ | noise amplitude (peak to peak) █ █ ↓ n5 = n4 * 10^(baseband_gain / 20) * sqrt(2) (V) █ █ +------+------+ █ █ | ADC | █ █ +-------------+ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █ █
radarsimpy.Radar
- class radarsimpy.Radar(transmitter, receiver, location=(0, 0, 0), speed=(0, 0, 0), rotation=(0, 0, 0), rotation_rate=(0, 0, 0), seed=None, **kwargs)[source]
Bases:
objectA class defines basic parameters of a radar system
- Parameters:
transmitter (Transmitter) – Radar transmiter
receiver (Receiver) – Radar Receiver
location (list) – 3D location of the radar [x, y, z] (m).
default [0, 0, 0]speed (list) – Speed of the radar (m/s), [vx, vy, vz].
default [0, 0, 0]rotation (list) – Radar’s angle (deg), [yaw, pitch, roll].
default [0, 0, 0]rotation_rate (list) – Radar’s rotation rate (deg/s), [yaw rate, pitch rate, roll rate]
default [0, 0, 0]seed (int) – Seed for noise generator
- Variables:
time_prop (dict) –
Time properties
timestamp_shape: Shape of timestamp
timestamp: Timestamp for each samples in a frame
[channes, pulses, samples]Channel order in timestamp
[0]
Tx[0] -- Rx[0][1]
Tx[0] -- Rx[1]…
[N-1]
Tx[1] -- Rx[0][N]
Tx[1] -- Rx[1]
sample_prop (dict) –
Sample properties
samples_per_pulse: Number of samples in one pulse
noise: Noise amplitude
phase_noise: Phase noise matrix
array_prop (dict) –
Array properties
size: Number of virtual array elements
virtual_array: Locations of virtual array elements. [channel_size, 3 <x, y, z>]
radar_prop (dict) –
Radar properties
transmitter: Radar transmitter
receiver: Radar receiver
location: Radar location (m)
speed: Radar speed (m/s)
rotation: Radar rotation (rad)
rotation_rate: Radar rotation rate (rad/s)