Xag Rd24912 Millimeter Wave 4d Imaging Radar User Manual

RD24912 Millimeter Wave 4D Imaging Radar

User Manual

I. Introduction

The RD24912 Model is a 23 2023 Millimeter-Wave 4D Imaging
(Dynamic) Radar designed for use in Agricultural Unmanned Aerial
Vehicles, Agricultural Unmanned Ground Vehicles, and Autopilot
Consoles.

II. Specifications

Product Usage Instructions

The RD24912 Model is designed for use in Agricultural Unmanned
Aerial Vehicles, Agricultural Unmanned Ground Vehicles, and
Autopilot Consoles. It is a 23 2023 Millimeter-Wave 4D Imaging
(Dynamic) Radar that provides measurements for distance range,
distance accuracy, velocity range, velocity accuracy, angle range,
and angle accuracy. The radar has multi-target detection
capabilities and can detect up to two targets simultaneously. It
has a distance resolution of 1.5 to 2 meters for non-tracking point
targets and a velocity resolution of 1.5 to 2 meters per second for
non-tracking point targets. The angle resolution for non-tracking
point targets is also 1.5 to 2 degrees.

The RD24912 Model has a transmit frequency of 24.05 GHz and a
refresh rate of 50 Hz. It has an antenna with two beams transmitted
(close-range antenna) and an antenna gain of 19.8. The interface is
CAN-FD, and the structure dimensions are 103*103*162 (W*L*H Radar
Housing Rear Cover). The material of the radar is 4, and it weighs
1 unit. The communication speed is 9.5 meters per second.

When using the RD24912 Model, ensure that it is within the
operating conditions specified in the user manual. The operating
conditions include temperature, humidity, and power supply. Refer
to the user manual for more information on the operating
conditions.

Connect the RD24912 Model to the device or system where it will
be used. Ensure that the interface is compatible with the device or
system. Refer to the user manual for more information on the
interface.

Configure the RD24912 Model based on the application where it
will be used. Refer to the user manual for more information on the
configuration.

After configuring the RD24912 Model, it can now be used to
detect targets and provide measurements for distance range,
distance accuracy, velocity range, velocity accuracy, angle range,
and angle accuracy. Refer to the user manual for more information
on how to interpret the measurements.

User Manual
23 2023 Millimeter-Wave 4D Imaging (Dynamic) Radar
2022 3 15 March 15, 2022
______________ Prepared by: __Jiang Ji Chao__ _____________________ Reviewed by: _________________
Contents ………………………………………………………………………………………………………..3 I. Introduction…………………………………………………………………………………………… ………………3
1

………………………………………………………………………………………………………..5

II. Specifications………………………………………………………………………………………… ……………..5

………………………………………………………………………………………………………………8

III. Interfaces……………………………………………………………………………………………… ………………8

………………………………………………………………………………………………………..9

IV.

Operating

Conditions……………………………………………………………………………………………9

………………………………………………………………………………………………………10

V. Standards & Requirements………………………………………………………………………………….10

……………………………………………………………………………………………………… 11

VI. Version History ………………………………………………………………………………………………… 11

2

I. Introduction
3D

The millimeter-wave 4D imaging (dynamic) radar is able to penetrate rain, fog as well as dust, and is invariant to lighting. It can be applied to agricultural environment sensing around the clock for the 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 of the sensor detects and identifies targets using such point clouds, building real-time 3D point cloud maps for smart devices’ route planning and obstacle avoidance. With an embedded gimbal motor, this radar is capable of beam scanning for a larger field of view or fixed angle scanning.
RD24912 Model: RD24912

Main Features:
1.5m~80m Distance Measurement Range: 1.5m~80m 0.3m Range Resolution: 0.3m ±15.5m/s Velocity Measurement Range: ±15.5m/s FOV 80° 135° FOV: Azimuth: 80°; Pitch Angle: 135° 9.5° Azimuth Resolution: 9.5° 14° Pitch Angle Resolution: 14° 50Hz Point Cloud Refresh Rate: 50Hz CAN-FD CAN-FD Interface
3

IP67 IP67 Waterproof -40°C~+85°C Operating Temperature: -40°C~+85°C
Applications:
– Agricultural Unmanned Aerial Vehicles – Agricultural Unmanned Ground Vehicles – Autopilot Consoles

II. Specifications
Parameter

1 Table 1. Main Specifications

Testing Condition

Min

4

Typic al Value

Max

Unit

System
Transmit Frequency Modulation Refresh Rate Measurement
Distance Range
Distance Accuracy
Velocity Range
Velocity Accuracy
Angle Range
Angle Accuracy

24.05 FMCW

@FOV±40° +90°~-45°
@FOV: Azimuth: ±40°; Pitch Angle: +90°~-45°
Non-tracking Point Target “-“”+” Away from Target: “-“; Toward
Target: “+”
Point Target Azimuth
Pitch Angle @±40° Non-tracking Point Target
@Azimuth: ±40° @±30° Non-tracking Point Target
@Pitch Angle: ±30°

1.5
-15.5 -40 -45

24.25
50
80
±0.1 +15.5
±0.2 +40 +90
±0.5 ±0.8

GHz
Hz
m
m m/s m/s
° ° ° °

5

Multi-target Detection

Targets Detected

Simultaneously

1.5 2

Distance

Resolution

For Non-tracking Point Targets,

two objects are distinguishable

at 1.5x to 2x zoom

1.5 2

Velocity Resolution

For Non-tracking Point Targets,

two objects are distinguishable

at 1.5x to 2x zoom

@±40°

Angle Resolution 1.5 2

For Non-tracking Point Targets

@Azimuth: ±40°, two objects

are distinguishable at 1.5x to

2x zoom

@-

45°~+90° 1.5 2

For Non-tracking Point Targets

@Pitch Angle: -45°~+90°, two

objects are distinguishable at

1.5x to 2x zoom

6

128

0.3

m

1

m/s

9.5

°

14

°

Antenna
Beams Transmitted (Close-Range
Antenna)
Interface
CAN-FD
Structure
Dimensions
Material
Weight

-3dB Azimuth (-3dB) -3dB Pitch Angle (-3dB)
Antenna Gain
Communication Speed
** W*L*H Radar Housing
Rear Cover

70
23
Antenna 1 12.2 Antenna 2 19.8

1

4

103*103*162
PA66+30%GF
Aluminum
700

° ° dBi Mbps mm
g

III. Interfaces
CAN-FD 6PIN
The interface on the 4D imaging (dynamic) radar for external communication is CAN-FD, working with a 6PIN connector defined as follows.
2 Table 2. Interface Signal Definition

7

Pin

Signal

1

CAN_L

Type I/O

2

CAN_H

I/O

3

SYNC

O

4

NC

–

5

BAT

P

6

GND

P

Definition CAN-bus CAN-bus (Low Level) CAN-bus CAN-bus (High Level) Flight Controller Signal Synchronization
Reserved Battery Cathode Battery Anode

Connector 1#
1# Green 2# 2# Blue 3#
3# Yellow 4#
4# White 5# 5# Red 6#
6# Black

IV. Operating Conditions

Certain operating conditions, as specified below, are required for the proper functioning of the radar module, otherwise, it might malfunction or burn out.
3 Table 3. Operating Conditions

Parameter

Testing Condition

Operating
Voltage Power
Consumption

Battery Powered
@48VDC

Min
24

Typical Value
48

Max

Unit

56

VDC

12

W

8

Static Power Consumption
Operating Temperature Storage Temperature
Shock Vibration Protection Rating

@48VDC

100

mW

-20

+85

°C

-40

+85

°C

500m/s²@6 ms half-sine(10 x shock each in +/-X/Y/Z dir.)
20m/s² peak at 10Hz/0.14m/s² peak at 1000Hz
IP67 10cm IP67 (10cm below the surface of water)

V. Standards & Requirements
4 Table 4. Testing Requirements and Standards

Requirement

Test Item

Standard

EMC

ESD
Conduction &
Radiation

IEC61000-4-2 Level 3 Class B EN55032:2015 Class A

ISO 16750-1 -20°C~+85°C

9

Temperature Cycling

Environmental Adaptability

Vibration Testing

Export Certification

Waterproof
Radar

IEC 60068-2-64/ IEC 60068-2-64/Random Vibration Testing IP67
CE/FCC/KCC

VI. Version History
Version
V1_1

5 Table 5. Version History
Description
Document Created

10

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. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one of the following measures: Reorient or relocate the receiving antenna. – Increase the separation between the equipment and receiver. Connect the equipment into an outlet on a circuit different from that to which the receiver is
connected. – Consult the dealer or an experienced radio/TV technician for help.
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. 2.2 This device meets all the other requirements specified in Part15C, Section 15.249 of the FCC Rules. 2.3
1.Antenna type is an integrated antenna with no more than 19.8 dBi 2.Should be installed so that the end user cannot modify the antenna 3.Feed line should be designed in 50ohm Fine tuning of return loss etc. can be performed using a matching network.
The antenna shall not be accessible for modification or change by the end user.
11

2.4 The module complies with FCC Part 15.249 and apply for Single module approval.
2.5 Trace antenna designs: Not applicable.
Any deviation(s) from the defined parameters of the antenna trace, as described by the instructions, require that the host product manufacturer must notify the module grantee that they wish to change the antenna trace design. In this case, a Class II permissive change application is required to be filed by the grantee, or the host manufacturer can take responsibility through the change in FCC ID (new application) procedure followed by a Class II permissive change application.
2.6 The module is limited to installation in mobile application. Host device must be operated a minimum of 20cm between people. Here are two types of instruction for RF exposure: 1; The host product which the module installed shall be mobile application. 2; The end user manual shall be provide additional text from the host product manufacturer to end users, It shall include FCC compliance statements related to the transmitter or labeling requirements. 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).
A separate approval is required for all other operating configurations, including portable configurations with respect to Part 2.1093 and difference antenna configurations.
2.7
Antenna type is an integrated antenna with antenna 1 12.2 dBi and antenna 2 19.8 dBi. 2.8 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-RD24912”. The grantee’s FCC ID can be used only when all FCC compliance requirements are met. 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.
12

OEM/Host manufacturer responsibilities
Must use the device only in host devices that meet the FCC/ISED RF exposure category of mobile, which means the device is installed and used at distances of at least 20cm from persons.
2.9
Testing of the host product with all the transmitters installed ­ referred to as the composite investigation test- is recommended, to verify that the host product meets all the applicable FCC rules. The radio spectrum is to be investigated with all the transmitters in the final host product functioning to determine that no emissions exceed the highest limit permitted for any one individual transmitter as required by Section 2.947(f). The host manufacturer is responsible to ensure that when their product operates as intended it does not have any emissions present that are out of compliance that were not present when the transmitters were tested individually. If the modular transmitter has been fully tested by the module grantee on the required number of channels, modulation types, and modes, it should not be necessary for the host installer to re-test all the available transmitter modes or settings. It is recommended that the host product manufacturer, installing the modular transmitter, perform some investigative measurements to confirm that the resulting composite system does not exceed the spurious emissions limits or band edge limits (e.g., where a different antenna may be causing additional emissions).
The testing should check for emissions that may occur due to the intermixing of emissions with the other transmitters, digital circuitry, or due to physical properties of the host product (enclosure). This investigation is especially important when integrating multiple modular transmitters where the certification is based on testing each of them in a stand-alone configuration.
2.10
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.
2.11
The host manufacture is recommended to use D04 Module Integration Guide recommending as “best practice” RF design engineering testing and evaluation in case non-linear interactions generate additional non-compliant limits due to module placement to host components or properties.
2.12
13

This module is stand-alone modular. If the end product will involve the Multiple simultaneously transmitting condition or different operational conditions for a stand-alone modular transmitter in a host, host manufacturer have to consult with module manufacturer for the installation method in end system.
14

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 colocation 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. Additional text needed for the host product manufacturer to provide to end users in their endproduct 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).
15