Raytracing

A Python module for radar simulation

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Copyright (C) 2018 - PRESENT radarsimx.com
E-mail: info@radarsimx.com
Website: https://radarsimx.com

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radarsimpy.rt.lidar_scene(lidar, targets, t=0)

Lidar scene simulator

Parameters:

lidar (dict) –
Lidar configuration

{
- position (numpy.1darray) –
  Lidar’s position (m). [x, y, z]
- phi (numpy.1darray) –
  Array of phi scanning angles (deg). The total sweep angles are the number of phi angles x the number of theta angles
- theta (numpy.1darray) –
  Array of theta scanning angles (deg). The total sweep angles are the number of phi angles x the number of theta angles
}
targets (list[dict]) –
Target list

[{
- model (str) –
  Path to the target model
- origin (numpy.1darray) –
  Origin position of the target model (m), [x, y, z]. default [0, 0, 0]
- location (numpy.1darray) –
  Location of the target (m), [x, y, z]. default [0, 0, 0]
- speed (numpy.1darray) –
  Speed of the target (m/s), [vx, vy, vz]. default [0, 0, 0]
- rotation (numpy.1darray) –
  Target’s angle (deg), [yaw, pitch, roll]. default [0, 0, 0]
- rotation_rate (numpy.1darray) –
  Target’s rotation rate (deg/s), [yaw rate, pitch rate, roll rate] default [0, 0, 0]
- unit (str) –
  Unit of target model. Supports mm, cm, and m. Default is m.
}]
t (float) – Simulation timestamp. default 0

Returns:

rays

Return type:

numpy.array

radarsimpy.rt.rcs_sbr(targets, f, inc_phi, inc_theta, inc_pol=[0, 0, 1], obs_phi=None, obs_theta=None, obs_pol=None, density=1)

Calculate target’s RCS by using shooting and bouncing rays (SBR)

Parameters:

targets (list[dict]) –
Target list

[{
- model (str) –
  Path to the target model
- origin (numpy.1darray) –
  Origin position of the target model (m), [x, y, z]. default [0, 0, 0]
- location (numpy.1darray) –
  Location of the target (m), [x, y, z]. default [0, 0, 0]
- rotation (numpy.1darray) –
  Target’s angle (deg), [yaw, pitch, roll]. default [0, 0, 0]
- permittivity (complex) –
  Target’s permittivity. Perfect electric conductor (PEC) if not specified.
- unit (str) –
  Unit of target model. Supports mm, cm, and m. Default is m.
}]
f (float) – Center frequency (Hz)
inc_phi (float) – Incidence angle phi (deg).
inc_theta (float) – Incidence angle theta (deg).
inc_pol (list) – Incidence polarization [x, y, z]. default [0, 0, 1]
obs_phi (float) – Observation angle phi (deg) default None means obs_phi = inc_phi
obs_theta (float) – Observation angle theta (deg) default None means obs_theta = inc_theta
obs_pol (list) – Observer polarization [x, y, z]. default same as inc_pol
density (float) – Ray density (number of rays per wavelength). default 1

Returns:

Target’s RCS (m^2), use 10*log10(RCS) to convert to dBsm

Return type:

float

radarsimpy.rt.scene(radar, targets, density=1, level=None, log_path=None, debug=False, interf=None)

deprecated Please use simulator.sim_radar(radar, targets, density=1, level=None, log_path=None, debug=False, interf=None)

This function generates radar’s baseband response of a scene using the given radar and targets.

Parameters:

radar (Radar) – The radar object used for the scene.
targets (list) –
The targets in the scene.

[{
- model (str) –
  Path to the target model
- origin (numpy.1darray) –
  Origin position of the target model (m), [x, y, z]. default [0, 0, 0]
- location (numpy.1darray) –
  Location of the target (m), [x, y, z]. default [0, 0, 0]
- speed (numpy.1darray) –
  Speed of the target (m/s), [vx, vy, vz]. default [0, 0, 0]
- rotation (numpy.1darray) –
  Target’s angle (deg), [yaw, pitch, roll]. default [0, 0, 0]
- rotation_rate (numpy.1darray) –
  Target’s rotation rate (deg/s), [yaw rate, pitch rate, roll rate] default [0, 0, 0]
- permittivity (complex) –
  Target’s permittivity. Perfect electric conductor (PEC) if not specified.
- unit (str) –
  Unit of target model. Supports mm, cm, and m. Default is m.
}]

Note: Target’s parameters can be specified with Radar.timestamp to customize the time varying property. Example: location=(1e-3*np.sin(2*np.pi*1*radar.timestamp), 0, 0)
density (float) – Ray density. Number of rays per wavelength (default=1).
level (str or None) –
Fidelity level of the simulation (default=None).
- None: Perform one ray tracing simulation for the whole frame
- pulse: Perform ray tracing for each pulse
- sample: Perform ray tracing for each sample
log_path (str) – Provide the path to save ray data (default=None, no data will be saved).
debug (bool) – Whether to enable debug mode (default=False).
interf (Radar) – Interference radar (default=None).

Returns:

A dictionary containing the baseband data, timestamp, and interference (if available). {

baseband (numpy.3darray) –
Time domain baseband data. [channes/frames, pulses, samples]

Channel/frame order in baseband

[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]
noise (numpy.3darray) –
Time domain noise data. [channes/frames, pulses, samples]

Channel/frame order in baseband

[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]
interference (numpy.3darray) –
Time domain interference data. [channes/frames, pulses, samples]

Channel/frame order in baseband

[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]
timestamp (numpy.3darray) –
Refer to Radar.timestamp

}

Return type:

dict