XAG RD24912 Millimeter Wave 4D Imaging Radar User Manual

XAG RD24912 Millimeter Wave 4D Imaging Radar

Introduction

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.

• Model: RD24912

Main Features

• Distance Measurement Range: 1.5m~80m
• Distance Measurement Range: 1.5m~80m
• Range Resolution: 0.3m
• Velocity Measurement Range: ±15.5m/s
• FOV: Azimuth: 80°; Pitch Angle: 135°
• Azimuth Resolution: 9.5°
• Pitch Angle Resolution: 14°
• Point Cloud Refresh Rate: 50Hz
• CAN-FD Interface
• IP67 Waterproof
• Operating Temperature: -40°C~+85°C

Applications

• Agricultural Unmanned Aerial Vehicles
• Agricultural Unmanned Ground Vehicles
• Autopilot Consoles

Specifications

Table 1. Main Specifications

Parameter

|

Testing Condition

|

Min

|

Typic

al Value

|

Max

|

Unit

---|---|---|---|---|---
System

Transmit Frequency|  | 24.05|  | 24.25| GHz
Modulation| FMCW|
Refresh Rate|  |  | 50|  | Hz
Measurement
Distance Range| @FOV: Azimuth: ±40°; Pitch Angle: +90°~-45°| 1.5|  | 80| m

Distance Accuracy

|

Non-tracking Point Target

|  | ±0.1|  | m
Velocity Range| from Target: “-”; Toward Target: “+”| -15.5|  | +15.5| m/s
Velocity Accuracy| Point Target|  | ±0.2|  | m/s
Angle Range| Azimuth| -40|  | +40| °
Pitch Angle| -45|  | +90| °
Angle Accuracy| ±40° Non-tracking Point Target

@Azimuth: ±40°

|  | ±0.5|  | °
±30° Non-tracking Point Target

@Pitch Angle: ±30°

|  | ±0.8|  | °
Multi-target Detection

Targets Detected Simultaneously|  |  |  | 128| 个
Distance Resolution| For Non-tracking Point Targets, two objects are distinguishable

at 1.5x to 2x zoom

|  | 0.3|  | m
Velocity Resolution| For Non-tracking Point Targets,

two objects are distinguishable at 1.5x to 2x zoom

|  | 1|  | m/s
Angle Resolution| | | 9.5|  | °
 | For Non-tracking Point Targets|  |
 | @Azimuth: ±40°, two objects|  |
 | are distinguishable at 1.5x to|  |
 | 2x zoom|  |
 | – 45°~+90°，1.5 2|  | 14|  | °
 | For Non-tracking Point Targets|  |
 | @Pitch Angle: -45°~+90°, two|  |
 | objects are distinguishable at|  |
 | 1.5x to 2x zoom|  |
Antenna

Beams Transmitted (Close-Range Antenna)| （-3dB）

Azimuth (-3dB)

|  | 70|  | °
（-3dB）

Pitch Angle (-3dB)

|  | 23|  | °
Antenna Gain| Antenna 1| 12.2|  | dBi
Antenna 2| 19.8
Interface
CAN-FD| Communication Speed| 1| 4|  | Mbps
Structure
Dimensions| WLH| 103103162| mm
Material| Radar Housing| PA66+30%GF|
Rear Cover| Aluminum|
Weight|  | 700| g

Interfaces

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

Table 2. Interface Signal Definition

2# Blue

3# Yellow

4# White

5# Red

6# Black

 |  |  | CAN-bus (Low Level)
2| CAN_H| I/O| CAN-bus
 |  |  | CAN-bus (High Level)
3| SYNC| O|
|  |  | Flight Controller Signal
 |  |  | Synchronization
4| NC| –|
|  |  | Reserved
5| BAT| P|
|  |  | Battery Cathode
6| GND| P|
|  |  | Battery Anode

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.

Table 3. Operating Conditions

IP67 (10cm below the surface of water)

Standards & Requirements

Table 4. Testing Requirements and Standards

EMC

|

ESD

|

IEC61000-4-2 Level 3 Class B

Conduction & Radiation|

EN55032:2015 Class A

 |  |

ISO 16750-1 -20°C~+85°C

Environmental Adaptability| Temperature Cycling|
---|---|---
Vibration Testing| IEC 60068-2-64/Random Vibration Testing

Waterproof

|

IP67

Export Certification|

Radar

|

CE/FCC/KCC

Version History

Table 5. Version History

V1_1

| Document Created
 |

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.

This device meets all the other requirements specified in Part 15C, Section 15.249 of the FCC Rules.

1. The antenna type is an integrated antenna with no more than 19.8 dB

2. Should be installed so that the end user cannot modify the antenna

3. The 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.

4. The module complies with FCC Part 15.249 and applies for Single module approval.

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.

6. The module is limited to installation in mobile applications. The host device must be operated a minimum of 20cm between people.
   Here are two types of instruction for RF exposure:

7. The host product in which the module is installed shall be a mobile application.

8. The end user manual shall 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). Separate approval is required for all other operating configurations, including portable configurations with respect to Part 2.1093 and different antenna configurations.

9. The antenna type is an integrated antenna with antenna 1 12.2 dBi and antenna 2 19.8 dBi.

10. End Product Labeling
    This transmitter module is authorized only for use in devices 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:

11. This device may not cause harmful interference, and

12. This device must accept any interference received, including interference that may cause undesired operation.
    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.

13. 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.

14. 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.

15. The host manufacturer is recommended to use D04 Module Integration Guide recommended 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.

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

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 a 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 re-evaluating the end product (including the transmitter) and obtaining a separate FCC authorization. The module is tested for standalone mobile RF exposure use conditions. 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 is 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).

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