Sensor de Radar
Información del producto
Datos Técnicos y Campo de Visión
| Specifications | ||
|---|---|---|
|
Specifications
Field of View (FoV)
|
Distance measurement
|
0.23 m… 160 m
|
|
Specifications
|
Horizontal range
|
+/- 75°
|
|
Specifications
|
Vertical range
|
+/- 15°
|
|
Specifications
Key-Performance Indicator (KPI)
|
Range precision
Separability |
0.09m…0.12m
0.45m…0.47m |
|
Specifications
|
Velocity range /
- precision - separability |
+/- 80m/s
0.04m/s…0.06m/s 0.24m/s |
|
Specifications
|
Horizontal angle precision /
Separability |
0.1°
4.0° |
|
Specifications
|
Vertical angle precision / Separability
|
0.2°
6.0° |
|
Specifications
Interfaces & power
|
Data interface
|
CAN-FD
(500/2000 kBit/s) |
|
Specifications
|
Cycle time
|
66 ms
|
|
Specifications
|
Power consumption
|
<3 W
|
|
Specifications
Mechanics
|
Box volume
|
63 x 72 x 19mm
|
Location Gateway Unit (LGU)
La "Location Gateway Unit (LGU)" es la interfaz de software principal del sensor de radar, a través de la cual se emiten todos los datos de medición y la información de sistema asociada.
Se pueden transmitir hasta 255 ubicaciones individuales por ciclo de medición.
Cada ubicación representa un punto detectado en el área de cobertura del sensor y contiene una serie de metadatos específicos para permitir una interpretación detallada de la medición.
Cada ubicación se transmite como un conjunto de datos separado y contiene los metadatos mostrados en el ejemplo de debajo (ver tabla).
Además de las ubicaciones, la LGU transmite continuamente otras señales importantes de su estado y del sistema.
| Name | Startbit | Length [Bit] | Factor | Offset | Minimum. | Maximum | Unit |
|---|---|---|---|---|---|---|---|
|
Name
RadialDistance
|
Startbit
32
|
Length [Bit]
15
|
Factor
0.01
|
Offset
0
|
Minimum.
0
|
Maximum
327.67
|
Unit
m
|
|
Name
RadialVelocity
|
Startbit
47
|
Length [Bit]
15
|
Factor
0.01
|
Offset
-163.84
|
Minimum.
-110
|
Maximum
55
|
Unit
m/s
|
|
Name
Elevation
|
Startbit
62
|
Length [Bit]
10
|
Factor
0.1
|
Offset
-51.2
|
Minimum.
-45
|
Maximum
45
|
Unit
deg
|
|
Name
Azimuth
|
Startbit
72
|
Length [Bit]
11
|
Factor
0.1
|
Offset
-102.4
|
Minimum.
-90
|
Maximum
90
|
Unit
deg
|
|
Name
DistVelocityCoVnce
|
Startbit
83
|
Length [Bit]
11
|
Factor
0.0001
|
Offset
-0.1024
|
Minimum.
-0.1024
|
Maximum
0.1023
|
Unit
m^2/s
|
|
Name
RadialDistanceVnce
|
Startbit
94
|
Length [Bit]
10
|
Factor
5,00E-05
|
Offset
0
|
Minimum.
0
|
Maximum
0.05115
|
Unit
m^2
|
|
Name
RadialVelocityVnce
|
Startbit
104
|
Length [Bit]
10
|
Factor
0.0001
|
Offset
0
|
Minimum.
0
|
Maximum
0.1023
|
Unit
m^2/s^2
|
|
Name
ElevationVnce
|
Startbit
114
|
Length [Bit]
10
|
Factor
0.001
|
Offset
0
|
Minimum.
0
|
Maximum
1.023
|
Unit
deg^2
|
|
Name
AzimuthVnce
|
Startbit
124
|
Length [Bit]
10
|
Factor
0.001
|
Offset
0
|
Minimum.
0
|
Maximum
1.023
|
Unit
deg^2
|
|
Name
RadarCrossSection
|
Startbit
134
|
Length [Bit]
10
|
Factor
0.2
|
Offset
-102.4
|
Minimum.
-50
|
Maximum
70
|
Unit
dBsm
|
|
Name
DistVelocityQuality
|
Startbit
144
|
Length [Bit]
8
|
Factor
1
|
Offset
0
|
Minimum.
0
|
Maximum
255
|
Unit
unitless
|
|
Name
ElevationQuality
|
Startbit
152
|
Length [Bit]
8
|
Factor
1
|
Offset
0
|
Minimum.
0
|
Maximum
255
|
Unit
unitless
|
|
Name
AzimuthQuality
|
Startbit
160
|
Length [Bit]
8
|
Factor
1
|
Offset
0
|
Minimum.
0
|
Maximum
255
|
Unit
unitless
|
|
Name
RSSI
|
Startbit
168
|
Length [Bit]
10
|
Factor
0.1
|
Offset
0
|
Minimum.
0
|
Maximum
100
|
Unit
unitless
|
|
Name
AzimuthalPartnerId
|
Startbit
178
|
Length [Bit]
10
|
Factor
1
|
Offset
0
|
Minimum.
0
|
Maximum
1023
|
Unit
unitless
|
|
Name
MeasurementStatus
|
Startbit
188
|
Length [Bit]
4
|
Factor
1
|
Offset
0
|
Minimum.
0
|
Maximum
15
|
Unit
0
|
Controlador ROS
Para una fácil integración del sensor de radar multipropósito, existe el siguiente controlador ROS2:
Dimensiones
Conector
| Pin No. | Pin Funtion | Function Type |
|---|---|---|
|
Pin No.
1
|
Pin Funtion
MP-2
|
Function Type
Multi-purpose Pin 2 (COM-L)
|
|
Pin No.
2
|
Pin Funtion
MP-1
|
Function Type
Multi-purpose Pin 1 (COM-H)
|
|
Pin No.
3
|
Pin Funtion
n. a.
|
Function Type
n. a.
|
|
Pin No.
4
|
Pin Funtion
n. a.
|
Function Type
n. a.
|
|
Pin No.
5
|
Pin Funtion
GND
|
Function Type
Sensor ground: connected to terminal 31
|
|
Pin No.
6
|
Pin Funtion
COM1-L
|
Function Type
Communications interface 1: Low signal
|
|
Pin No.
7
|
Pin Funtion
COM1-H
|
Function Type
Communication interface 1: High signal
|
|
Pin No.
8
|
Pin Funtion
VBATT
|
Function Type
Supply voltage for sensor (terminal 15/30)
|