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: object

A class defines basic parameters of a radar transmitter

Parameters:

f (float or numpy.1darray) –
Waveform frequency (Hz). If f is a single number, radar transmits a single-tone waveform.

For linear modulation, specify f with [f_start, f_stop].

f can alse be a 1-D array of an arbitrary waveform, specify the time with t.
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 is None, prp = pulse_length.

prp can 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 of pulses
f_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 [x, y, z] (m)
- polarization (numpy.1darray) –
  Antenna polarization [x, y, z]. default = [0, 0, 1] (vertical polarization)
- 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

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█                        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: object

A 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, complex or real. Deafult is complex
channels (list[dict]) –
Properties of transmitter channels

[{
- location (numpy.1darray) –
  3D location of the channel [x, y, z] (m)
- polarization (numpy.1darray) –
  Antenna polarization [x, y, z]. default = [0, 0, 1] (vertical polarization)
- 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, real or complex
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

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█  +-------------+                                              █
█  | 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     |                                              █
█  +-------------+                                              █
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radarsimpy.Radar

class radarsimpy.Radar(transmitter, receiver, location=(0, 0, 0), speed=(0, 0, 0), rotation=(0, 0, 0), rotation_rate=(0, 0, 0), time=0, interf=None, seed=None, **kwargs)[source]

Bases: object

A 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]
time – Radar firing time instances / frames :type time: float or list
interf (Radar) – Interference radar. default None
seed (int) – Seed for noise generator

Variables:

time_prop (dict) –
Time properties
- frame_size: Number of frames
- frame_start_time: Frame start time
- timestamp_shape: Shape of timestamp
- timestamp: Timestamp for each samples
  
  [channes/frames, pulses, samples]
  
  Channel/frame order in timestamp
  
  [0] Frame[0] -- Tx[0] -- Rx[0]
  
  [1] Frame[0] -- Tx[0] -- Rx[1]
  
  …
  
  [N] Frame[0] -- Tx[1] -- Rx[0]
  
  [N+1] Frame[0] -- Tx[1] -- Rx[1]
  
  …
  
  [M] Frame[1] -- Tx[0] -- Rx[0]
  
  [M+1] Frame[1] -- Tx[0] -- 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
- interf: Interference radar
- location: Radar location (m)
- speed: Radar speed (m/s)
- rotation: Radar rotation (rad)
- rotation_rate: Radar rotation rate (rad/s)