FlintyLemming/PLFM_RADAR
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fix(gui): align radar parameters to FPGA truth (radar_scene.py)

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- Bandwidth 500 MHz -> 20 MHz, sample rate 4 MHz -> 100 MHz (DDC output)
- Range formula: deramped FMCW -> matched-filter c/(2*Fs)*decimation
- Velocity formula: use PRI (167 us) and chirps_per_subframe (16)
- Carrier frequency: 10.525 GHz -> 10.5 GHz per radar_scene.py
- Range per bin: 4.8 m -> 24 m, max range: 307 m -> 1536 m
- Fix simulator target spawn range to match new coverage (50-1400 m)
- Remove dead BANDWIDTH constant, add SAMPLE_RATE to V65 Tk
- All 174 tests pass, ruff clean
This commit is contained in:
Jason
2026-04-16 21:35:01 +05:45
parent 161e9a66e4
commit 76cfc71b19
5 changed files with 58 additions and 49 deletions
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9_Firmware/9_3_GUI/v7/map_widget.py
+1 -1
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@@ -98,7 +98,7 @@ class RadarMapWidget(QWidget):
)
self._targets: list[RadarTarget] = []
self._pending_targets: list[RadarTarget] | None = None
self._coverage_radius = 50_000 # metres
self._coverage_radius = 1_536 # metres (64 bins x ~24 m/bin)
self._tile_server = TileServer.OPENSTREETMAP
self._show_coverage = True
self._show_trails = False
9_Firmware/9_3_GUI/v7/models.py
+29 -22
View File
@@ -108,12 +108,12 @@ class RadarSettings:
range_resolution and velocity_resolution should be calibrated to
the actual waveform parameters.
"""
system_frequency: float = 10e9 # Hz (carrier, used for velocity calc)
range_resolution: float = 781.25 # Meters per range bin (default: 50km/64)
velocity_resolution: float = 1.0 # m/s per Doppler bin (calibrate to waveform)
max_distance: float = 50000 # Max detection range (m)
map_size: float = 50000 # Map display size (m)
coverage_radius: float = 50000 # Map coverage radius (m)
system_frequency: float = 10.5e9 # Hz (carrier, used for velocity calc)
range_resolution: float = 24.0 # Meters per range bin (c/(2*Fs)*decim)
velocity_resolution: float = 1.0 # m/s per Doppler bin (calibrate to waveform)
max_distance: float = 1536 # Max detection range (m)
map_size: float = 2000 # Map display size (m)
coverage_radius: float = 1536 # Map coverage radius (m)
@dataclass
@@ -199,39 +199,46 @@ class WaveformConfig:
Encapsulates the radar waveform so that range/velocity resolution
can be derived automatically instead of hardcoded in RadarSettings.
Defaults match the ADI CN0566 Phaser capture parameters used in
the golden_reference cosim (4 MSPS, 500 MHz BW, 300 us chirp).
Defaults match the AERIS-10 production system parameters from
radar_scene.py / plfm_chirp_controller.v:
100 MSPS DDC output, 20 MHz chirp BW, 30 us long chirp,
167 us long-chirp PRI, X-band 10.5 GHz carrier.
"""
sample_rate_hz: float = 4e6 # ADC sample rate
bandwidth_hz: float = 500e6 # Chirp bandwidth
chirp_duration_s: float = 300e-6 # Chirp ramp time
center_freq_hz: float = 10.525e9 # Carrier frequency
sample_rate_hz: float = 100e6 # DDC output I/Q rate (matched filter input)
bandwidth_hz: float = 20e6 # Chirp bandwidth (not used in range calc;
# retained for time-bandwidth product / display)
chirp_duration_s: float = 30e-6 # Long chirp ramp time
pri_s: float = 167e-6 # Pulse repetition interval (chirp + listen)
center_freq_hz: float = 10.5e9 # Carrier frequency (radar_scene.py: F_CARRIER)
n_range_bins: int = 64 # After decimation
n_doppler_bins: int = 32 # After Doppler FFT
n_doppler_bins: int = 32 # Total Doppler bins (2 sub-frames x 16)
chirps_per_subframe: int = 16 # Chirps in one Doppler sub-frame
fft_size: int = 1024 # Pre-decimation FFT length
decimation_factor: int = 16 # 1024 → 64
@property
def range_resolution_m(self) -> float:
"""Meters per decimated range bin (FMCW deramped baseband).
"""Meters per decimated range bin (matched-filter pulse compression).
For deramped FMCW: bin spacing = c * Fs * T / (2 * N_FFT * BW).
After decimation the bin spacing grows by *decimation_factor*.
For FFT-based matched filtering, each IFFT output bin spans
c / (2 * Fs) in range, where Fs is the I/Q sample rate at the
matched-filter input (DDC output). After decimation the bin
spacing grows by *decimation_factor*.
"""
c = 299_792_458.0
raw_bin = (
c * self.sample_rate_hz * self.chirp_duration_s
/ (2.0 * self.fft_size * self.bandwidth_hz)
)
raw_bin = c / (2.0 * self.sample_rate_hz)
return raw_bin * self.decimation_factor
@property
def velocity_resolution_mps(self) -> float:
"""m/s per Doppler bin. lambda / (2 * n_doppler * chirp_duration)."""
"""m/s per Doppler bin.
lambda / (2 * chirps_per_subframe * PRI), matching radar_scene.py.
"""
c = 299_792_458.0
wavelength = c / self.center_freq_hz
return wavelength / (2.0 * self.n_doppler_bins * self.chirp_duration_s)
return wavelength / (2.0 * self.chirps_per_subframe * self.pri_s)
@property
def max_range_m(self) -> float:
9_Firmware/9_3_GUI/v7/workers.py
+2 -2
View File
@@ -334,7 +334,7 @@ class TargetSimulator(QObject):
self._add_random_target()
def _add_random_target(self):
range_m = random.uniform(5000, 40000)
range_m = random.uniform(50, 1400)
azimuth = random.uniform(0, 360)
velocity = random.uniform(-100, 100)
elevation = random.uniform(-5, 45)
@@ -368,7 +368,7 @@ class TargetSimulator(QObject):
for t in self._targets:
new_range = t.range - t.velocity * 0.5
if new_range < 500 or new_range > 50000:
if new_range < 10 or new_range > 1536:
continue # target exits coverage — drop it
new_vel = max(-150, min(150, t.velocity + random.uniform(-2, 2)))