tomfisher / radar-notebooks

Jupyter notebooks for radar simulation based on RadarSimPy

Notebooks for Radar Simulation

Jupyter notebooks for radar systems simulation based on RadarSimPy & RadarSimC.

• RadarSimPy is a radar simulation package built with python (Source code)
• RadarSimC is the C++/CUDA backend of RadarSimPy (Not open source yet)

Please fill out this form to request the module

Key Features

• Radar Modeling

  • Radar transceiver modeling
  • Arbitrary waveform
  • Phase noise
  • Phase/Amplitude modulation
  • Fast-time/Slow-time modulation

• Simulation

  • Simulation of radar baseband data from point targets
  • Simulation of radar baseband data from 3D modeled objects/environment (#raytracing)
  • Simulation of target's RCS (#raytracing)
  • Simulation of LiDAR point cloud from 3D modeled objects/environment (#raytracing)

• Signal Processing

  • Range/Doppler processing
  • 1D/2D cell-averaging CFAR (CA-CFAR)
  • 1D/2D ordered-statistic CFAR (OS-CFAR)

• Characterization

  • Radar detection characteristics based on Swerling's models

Dependence

• numpy
• scipy
• meshio
• Visual C++ Runtime (Windows only)

Installation

To use the module, please put the radarsimpy folder within your project folder as shown below.

---

• Windows

  • your_project.py
  • your_project.ipynb
  • radarsimpy
    • __init__.py
    • radarsimc.dll
    • scene.xxx.pyd
    • ...

---

• Linux

  • your_project.py
  • your_project.ipynb
  • radarsimpy
    • __init__.py
    • libradarsimc.so
    • scene.xxx.so
    • ...

---

Acceleration

This module supports CPU/GPU parallelization. CPU parallelization is implemented through OpenMP. GPU parallelization (CUDA) has been added since v6.0.0.

	CPU	GPU (CUDA)
Windows	✅	✅
Linux	✅	✅
macOS	❌	❌

Coordinate Systems

• Scene Coordinate

  • axis (m): [x, y, z]
  • phi (deg): angle on x-y plane. Positive x-axis is 0 deg, positive y-axis is 90 deg
  • theta (deg): angle on z-x plane. Positive z-axis is 0 deg, x-y plane is 90 deg
  • azimuth (deg): azimuth -90 ~ 90 deg equal to phi -90 ~ 90 deg
  • elevation (deg): elevation -90 ~ 90 deg equal to theta 180 ~ 0 deg

• Object's Local Coordinate

  • axis (m): [x, y, z]
  • yaw (deg): rotation along z-axis. Positive yaw rotates object from positive x-axis to positive y-axis
  • pitch (deg): rotation along y-axis. Positive pitch rotates object from positive x-axis to positive z-axis
  • roll (deg): rotation along x-axis. Positive roll rotates object from positive z-axis to negative y-axis
  • origin (m): [x, y, z]
  • rotation (deg): [yaw, pitch, roll]
  • rotation (deg/s): rate [yaw rate, pitch rate, roll rate]

Usage Examples

The source files of these Jupyter notebooks are available here.

• Radar modeling and point target simulation

  • Doppler radar
  • FMCW radar
  • TDM MIMO FMCW radar
  • PMCW radar
  • Arbitrary waveform
  • Phase noise
  • CFAR

• Radar modeling and 3D scene simulation with raytracing

  • Imaging radar
  • FMCW radar with a corner reflector
  • FMCW radar with a plate
  • FMCW radar with a car
  • Doppler of a turbine
  • Micro-Doppler
  • Multi-path effect

• 3D modeled target's RCS simulation

  • Corner reflector RCS
  • Plate RCS
  • Car RCS

• LiDAR point cloud

  • LIDAR point cloud

• Characterization

  • Receiver operating characteristic (ROC)

API Reference

• Radar Model: Classes to define a radar system
  • radarsimpy.Transmitter: Radar transmitter
  • radarsimpy.Receiver: Radar receiver
  • radarsimpy.Radar: Radar system
• Simulator: Radar baseband signal simulator
  • radarsimpy.simulator.simpy: Simulates and generates raw time domain baseband data (Python engine)
  • radarsimpy.simulator.simc: Simulates and generates raw time domain baseband data (C++ engine)
• Raytracing: Raytracing module for radar scene simulation
  • radarsimpy.rt.lidar_scene: Simulates LiDAR's point cloud based on a 3D environment model with ray tracing
  • radarsimpy.rt.rcs_sbr: Simulates target's radar cross section (RCS) based on the 3D model with ray tracing
  • radarsimpy.rt.scene: Simulates radar's response signal in a 3D environment model with ray tracing
• Processing: Basic radar signal processing module
  • radarsimpy.processing.range_fft: Calculate range profile matrix
  • radarsimpy.processing.doppler_fft: Calculate range-Doppler matrix
  • radarsimpy.processing.range_doppler_fft: Range-Doppler processing
  • radarsimpy.processing.cfar_ca_1d: 1D Cell Averaging CFAR (CA-CFAR)
  • radarsimpy.processing.cfar_ca_2d: 2D Cell Averaging CFAR (CA-CFAR)
  • radarsimpy.processing.cfar_os_1d: 1D Ordered Statistic CFAR (OS-CFAR)
  • radarsimpy.processing.cfar_os_2d: 2D Ordered Statistic CFAR (OS-CFAR)
• Tools: Receiver operating characteristic analysis
  • radarsimpy.tools.roc_pd: Calculate probability of detection (Pd) in receiver operating characteristic (ROC)
  • radarsimpy.tools.roc_snr: Calculate the minimal SNR for certain probability of detection (Pd) and probability of false alarm (Pfa) in receiver operating characteristic (ROC)