User Manual 4D Imaging Radar 1 1. Introduction 4D Imaging Radar is applied to agricultural environment sensing for detection of the distance, velocity and orientation of targets including people, trees, power lines and poles in the environment, providing 3D point clouds and velocities. The back-end processor detects and identifies targets using such point clouds, building real-time maps for agricultural drones' route planning and obstacle avoidance. With an embedded gimbal motor, this 4D Imaging Radar is capable of dynamic scanning and fixed angle scanning. Model: RD24412 Main Features:
l Distance Measurement Range: 1.5m~40m l Range Resolution: 0.75m l Velocity Measurement Range: 13m/s; Resolution: 1m/s l FOV: Azimuth: 80; Pitch Angle: 135 l Azimuth Resolution: 9.5 l Point Cloud Refresh Rate: 30Hz l CAN-FD Interface l IP67 Waterproof l Operating Temperature: -20C~+85C Applications:
Agricultural Aircraft Done-
Agricultura Ground Vehicles Agricultural Autopilot Consoles 2 2. Specifications Parameter Testing Condition Min Typical Max Unit Table 1. Main Specifications System Transmit Frequency Value 24.05 24.25 GHz Transmit Power Average/Peak EIRP 17 20 dBm Modulation Refresh Rate Measurement FMCW 30 Hz Distance Range @FOV: Azimuth: 40; Pitch 1.5 40 M Angle: +90~-45 Distance Accuracy Non-tracking Point Target 0.1 M Velocity Range Away from Target: -;
-13
+13 m/s Toward Target: +
Velocity Accuracy Point Target 0.1 m/s Angle Range Azimuth Pitch Angle Non-tracking Point Target Angle Accuracy
@Azimuth: 50 Non-tracking Point Target
@Pitch Angle: 30
-40
-45
+40
+90 1 1 Muti-target Testing Targets Tested Simultaneously Distance Resolution Velocity For Non-tracking Point 0.75 M 64 Targets, two objects are distinguishable at 1.5x to 2x zoom 3 1 m/s Resolution Angle Resolution Non-tracking Point Target 9.5 Antenna
@Azimuth: 40 Azimuth (-3dB) Beamwidth Pitch Angle (-3dB) Antenna Gain Interface 70 23 12 dBi CAN-FD Communication Speed 1 4 Mbps Structure Dimensions W*L*H 87*87*153 Mm Material Radar Housing PA66+30%GF Rear Cover Cast Aluminum Weight 470 G 3. Interfaces The interface on the Dynamic Imaging Radar for external communication is CAN-FD, working with a 6PIN connector defined as follows. Table 2. Interface Signal Definition Pin Signal Type Definition 1 2 3 4 5 6 CAN_L CAN_H SYNC NC BAT GND I/O I/O O
P P 4. Operating Conditions CAN-bus (Low Level) CAN-bus (High Level) Flight Controller Signal Synchronization Reserved Battery Cathode Battery Anode Connector 1# Green 2# Blue 3# Yellow 4# White 5# Red 6# Black Certain operating conditions, as specified below, are required for the proper functioning of the radar module, otherwise, it might malfunction or burn out. 4 Table 3. Operating Conditions Parameter Testing Condition Min Typical Max Unit Operating Battery Powered 12 48 56 VDC Value Voltage Power Consumption
@48VDC 6.5 W Static Power
@48VDC 100 mW Consumption Operating Temperature Storage Temperature
-20
-40
+85 C
+85 C Shock 500m/s@6 ms half-sine(10 x shock each in +/-X/Y/Z dir.) Vibration Protection Rating 20m/s peak at 10Hz/0.14m/s peak at 1000Hz IP67 (10cm below the surface of water) 5. Standards & Requirements Table 4. Testing Requirements and Standards Requirement Test Item Standard ESD IEC61000-4-2 Level 3 ( B) EMC Conduction &
EN55032:2015/AC:2016-07 Class A Radiation Environmental Temperature Cycling ISO 16750-1 -20C~+85C Adaptability Vibration Testing IEC 60068-2-64/Random Vibration Testing IP67 Waterproof 5 Export 24GHz Radar CE/FCC/KCC Certification FCC Statement:
This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions:
(1) This device may not cause harmful interference, and
(2) this device must accept any interference received, including interference that may cause undesired operation. Note: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. FCC Caution: Any changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate this equipment. This transmitter must not be co-located or operating in conjunction with any other antenna or transmitter. OEM/Host manufacturer responsibilities Must use the device only in host devices that meet the FCC RF exposure category of mobile, which means the device is installed and used at distances of at least 20cm from persons. OEM/Host manufacturers are ultimately responsible for the compliance of the Host and Module. The final product must be reassessed against all the essential requirements of the FCC rule such as FCC Part 15 Subpart B before it can be placed on the US market. This includes reassessing the transmitter module for compliance with the Radio and EMF essential requirements of the FCC rules. This module must not be incorporated into any other device or system without retesting for compliance as multi-radio and combined equipment. 6 Additional text needed for the host product manufacturer to provide to end users in their end-product manuals. If RF exposure statements and use conditions are not provided, then the host product manufacturer is required to take responsibility of the module through a change in FCC ID (new application). Radiation Exposure Statement:
This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance 20cm between the radiator & your body. This device is intended only for OEM integrators under the following conditions:
1) The antenna must be installed such that 20 cm is maintained between the antenna and users, and 2) The transmitter module may not be co-located with any other transmitter or antenna. The OEM integrator is still responsible for testing their end-product for any additional compliance requirements required with this module installed. IMPORTANT NOTE:
In the event that these conditions can not be met (for example certain laptop configurations or co-location with another transmitter), then the FCC authorization is no longer considered valid and the FCC ID can not be used on the final product. In these circumstances, the OEM integrator will be responsible for reevaluating the end product (including the transmitter) and obtaining a separate FCC authorization. The module is tested for standalone mobile RF exposure use condition. Any other usage conditions such as co-location with other transmitter(s) or being used in a portable condition will need a separate reassessment through a class II permissive change application or new certification. End Product Labeling This transmitter module is authorized only for use in device where the antenna may be installed such that 20 cm may be maintained between the antenna and users. The final end product must be labeled in a visible area with the following: Contains FCC ID: 2A46G-RD24412. The grantee's FCC ID can be used only when all FCC compliance requirements are met. 7 The end product shall bear the following 15.19 statement: This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions:
(1) This device may not cause harmful interference, and
(2) This device must accept any interference received, including interference that may cause undesired operation. 8