{ "cells": [ { "cell_type": "markdown", "id": "3cf2f4d2", "metadata": { "id": "3cf2f4d2" }, "source": [ "# FMCW-Radar-107_Micro-Doppler\n", "\n", "You can open this workbook in Google Colab to experiment with mmWrt\n", "[![](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/matt-chv/mmWrt/blob/main/docs/FMCW-Radar-107_Micro-Doppler.ipynb)\n", "\n", "Below is an intro to mmWrt for simple micro doppler estimation\n" ] }, { "cell_type": "code", "execution_count": 1, "id": "99a9d777-8c6b-4e45-b003-fb5ec2384c20", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "running from git folder, using local path (latest) mmWrt code c:\\git\\mmWrt\n", "2026-06-23 20:57:19.606285\n" ] } ], "source": [ "# Install a pip package in the current Jupyter kernel\n", "import sys\n", "from os.path import abspath, basename, join, pardir\n", "import datetime\n", "\n", "# hack to handle if running from git cloned folder or stand alone (like Google Colab)\n", "cw = basename(abspath(join(\".\")))\n", "dp = abspath(join(\".\",pardir))\n", "if cw==\"docs\" and basename(dp) == \"mmWrt\":\n", " # running from cloned folder\n", " print(\"running from git folder, using local path (latest) mmWrt code\", dp)\n", " sys.path.insert(0, dp)\n", "else:\n", " print(\"running standalone, need to ensure mmWrt is installed\")\n", " !{sys.executable} -m pip install mmWrt\n", "print(datetime.datetime.now())" ] }, { "cell_type": "code", "execution_count": 25, "id": "4c4a7905", "metadata": { "id": "4c4a7905", "outputId": "582ed468-5a65-4516-b5a8-582a6e92f9dc" }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "0.0.11-pre.3\n", "last run on 2026-06-23 21:14:18.861178\n" ] } ], "source": [ "from os.path import abspath, join, pardir\n", "import sys\n", "from numpy import arange, array, expand_dims, pi, sin, where, zeros\n", "from numpy import complex128 as complex\n", "from numpy.fft import fft, fftshift, fft2, fftshift, fftfreq\n", "from scipy.signal import find_peaks, stft\n", "\n", "import matplotlib.pyplot as plt\n", "from numpy import arange, cos, sin, pi, zeros\n", "import numpy as np\n", "\n", "from mmWrt.Scene import Antenna, Medium\n", "from mmWrt.Raytracing import rt_points # noqa: E402\n", "from mmWrt.Scene import Radar, Transmitter, Receiver, Scatterer # noqa: E402\n", "from mmWrt import RadarSignalProcessing as rsp # noqa: E402\n", "\n", "from mmWrt.Raytracing import rt_points\n", "from mmWrt import __version__ as mmWrt_ver\n", "print(mmWrt_ver)\n", "\n", "print(\"last run on \", datetime.datetime.now())" ] }, { "cell_type": "code", "execution_count": 4, "id": "c727bbdb", "metadata": { "id": "c727bbdb" }, "outputs": [], "source": [ "import matplotlib.pyplot as plt\n", "import matplotlib.cm as cm\n", "from matplotlib import colors" ] }, { "cell_type": "code", "execution_count": 53, "id": "1cb956b7-d8d6-4c0a-82a9-0baf79772f79", "metadata": { "id": "1cb956b7-d8d6-4c0a-82a9-0baf79772f79", "outputId": "8d6e06c0-1c77-45b8-ae4e-cb296ba8df0c" }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "6.666666666666667e-07 1e-08 1.6666666666666668e-07\n" ] }, { "data": { "image/png": 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", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\n", "opt = {\"compute\":True, \"Dres_min\":50, \"BW\":0.01e9, \"k\":15e12, \"NC\":32, \"NA\":64, \"fs\":100e6, \"f0_min\":60e9, \"NF\":256,\n", " \"d0\": 50, \"v0\": 160,\n", " \"TIC\":1.2e-6, \"TIF\": 1.2e-3,\n", " \"logger\": \"TBD\",\n", " \"xt1\": \"lambda t: d0 + t*v0\", \"xt\": \"lambda t: 4*A0*sin(2*pi*f1*t)+d0\"}\n", "\n", "d0, v0 = opt[\"d0\"], opt[\"v0\"]\n", "NC = opt[\"NC\"]\n", "NA = opt[\"NA\"]\n", "NF = opt[\"NF\"]\n", "BW = opt[\"BW\"]\n", "k = opt[\"k\"]\n", "fs = opt[\"fs\"]\n", "f0_min=opt[\"f0_min\"]\n", "TIF = opt[\"TIF\"]\n", "TIC = opt[\"TIC\"]\n", "F1 = 6\n", "f1 = F1/(NF*TIF)\n", "A0 = v0/(2*pi*f1)\n", "udops1 = zeros((NC, NF))\n", "\n", "xt = eval(opt[\"xt\"])\n", "\n", "chirp_slope0 = k\n", "chirp_end_time0 = BW/chirp_slope0\n", "\n", "adc_sample_rate0 = fs\n", "\n", "radar = Radar(transmitter=Transmitter(chirp_end_time=chirp_end_time0, \n", " chirp_slope=chirp_slope0,\n", " chirp_start_freq=f0_min,\n", " chirp_period=TIC,\n", " frame_period=TIF,\n", " frame_count=NF,\n", " chirp_count=NC),\n", " receiver=Receiver(adc_sample_rate=adc_sample_rate0,\n", " adc_sample_count_max=1024,\n", " adc_sample_rate_max=110e6,\n", " adc_sample_count = NA),\n", " debug=False)\n", "\n", "\n", "target = Scatterer(xt=lambda t: xt(t))\n", "\n", "bb = rt_points([radar], [target],\n", " radar,\n", " datatype=complex, raytracing_opt=opt,\n", " debug=False)\n", "\n", "cube0 = bb[\"adc_cube\"][0,0,0,:]\n" ] }, { "cell_type": "code", "execution_count": 57, "id": "e593fef9-c82b-43e6-97d6-3419cdbb0d52", "metadata": {}, "outputs": [ { "data": { "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "\n", "rx_i = 0\n", "\n", "for frame_idx in range(NF):\n", " # compute range doppler\n", " cube = bb[\"adc_cube\"][frame_idx,:,rx_i,:]\n", " Z_fft2 = abs(fftshift(fft2(cube)))\n", " # find peak in range\n", " pk0 = find_peaks(abs(fft(cube[0,:])))[0][0]\n", " pk1 = find_peaks(abs(fft(cube[-1,:])))[0][0]\n", " # non regression hook\n", " assert pk0 == pk1\n", " # append doppler bin at peak range\n", " udops1[:,frame_idx] = Z_fft2[:, pk0]\n", "dop_idx = find_peaks(abs(Z_fft2[:, pk0]))[0][0]\n", "# non regression hook\n", "assert dop_idx == 26\n", "\n", "plt.figure(figsize=(10,6))\n", "fig, [ax0, ax1] = plt.subplots(nrows=2)\n", "ax0.imshow(abs(Z_fft2))\n", "ax0.set_title(f\"Range-Doppler for frame: {frame_idx}\")\n", "ax0.set_xlabel(\"Range idx\")\n", "ax0.set_ylabel(\"Dop idx\")\n", "ax1.set_title(\"single target\")\n", "ax1.imshow(udops1, aspect='auto')\n", "plt.tight_layout()" ] }, { "cell_type": "markdown", "id": "f180a453-c387-4178-a422-1fb7ea0ddc76", "metadata": { "id": "f180a453-c387-4178-a422-1fb7ea0ddc76" }, "source": [ "## 2 Targets 180 degrees" ] }, { "cell_type": "code", "execution_count": 63, "id": "c7e87a4f-6be6-4752-9a32-cc9f3c2feee0", "metadata": { "id": "c7e87a4f-6be6-4752-9a32-cc9f3c2feee0", "outputId": "4143d718-b974-42fc-e578-d3e8b2eed0d6" }, "outputs": [ { "data": { "image/png": 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", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# add a scatterer 180 degrees from previous one\n", "scatterer_180 = Scatterer(xt=lambda t: xt(t+1/2*1/f1))\n", "bb = rt_points([radar], [target, scatterer_180], \n", " radar, datatype=complex,\n", " raytracing_opt=opt)\n", "\n", "udops = zeros((NC, NF))\n", "pk0 = None\n", "tx_i, rx_i = 0, 0\n", "\n", "for frame_idx in range(NF):\n", " # compute range doppler\n", " cube = bb[\"adc_cube\"][frame_idx,:,rx_i,:]\n", " Z_fft2 = abs(fftshift(fft2(cube)))\n", " # find peak in range\n", " pk = find_peaks(abs(fft(cube[0,:])))[0][0]\n", " # append doppler bin at peak range\n", " udops[:,frame_idx] = Z_fft2[:, pk]\n", "plt.figure(figsize=(10,6))\n", "plt.title(\"2 targets 180 degrees apart\")\n", "plt.imshow(udops, aspect='auto')\n", "plt.show()" ] }, { "cell_type": "markdown", "id": "2e60b332-c3ef-4083-a3e1-6b057be0e941", "metadata": { "id": "2e60b332-c3ef-4083-a3e1-6b057be0e941" }, "source": [ "## 3 Targets each 120 degrees" ] }, { "cell_type": "code", "execution_count": 62, "id": "f4b0e764-6964-4b21-9530-2cd4d3c390c6", "metadata": { "id": "f4b0e764-6964-4b21-9530-2cd4d3c390c6", "outputId": "871c0c68-eaf7-44fe-cb9d-ceddbaef1da2" }, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "scatterer_120 = Scatterer(xt=lambda t: xt(t+1/3*1/f1))\n", "scatterer_240 = Scatterer(xt=lambda t: xt(t+2/3*1/f1))\n", "bb = rt_points([radar], [target, scatterer_120, scatterer_240],\n", " radar,\n", " datatype=complex, raytracing_opt=opt)\n", "\n", "udops = zeros((NC, NF))\n", "pk0 = None\n", "tx_i, rx_i = 0, 0\n", "\n", "for frame_idx in range(NF):\n", " # compute range doppler\n", " cube = bb[\"adc_cube\"][frame_idx,:,rx_i,:]\n", " Z_fft2 = abs(fftshift(fft2(cube)))\n", " # find peak in range\n", " pk = find_peaks(abs(fft(cube[0,:])))[0][0]\n", " # append doppler bin at peak range\n", " udops[:,frame_idx] = Z_fft2[:, pk]\n", "plt.figure(figsize=(10,6))\n", "plt.title(\"3 targets 120 degrees apart\")\n", "plt.imshow(udops, aspect='auto')\n", "plt.show()" ] }, { "cell_type": "markdown", "id": "b4d1a9bb-bb68-4cc0-8b70-c9bd46a5174b", "metadata": { "id": "b4d1a9bb-bb68-4cc0-8b70-c9bd46a5174b" }, "source": [ "## UDOP w/ STFT\n", "\n", "STFT can be used to compute $\\mu$-Doppler when there is only one frame available.\n", "\n", "Below also shows when one target has just a linear speed and second target is oscillating around the first one." ] }, { "cell_type": "code", "execution_count": 70, "id": "a2083ffb-9a7c-4fff-a6a7-164a1c4dff50", "metadata": { "id": "a2083ffb-9a7c-4fff-a6a7-164a1c4dff50", "outputId": "32262d1d-f4a1-41c3-9e0c-8b8f51cd7764" }, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "from scipy.fft import fft, fft2\n", "from numpy import angle, cos, real\n", "from scipy.signal import find_peaks\n", "from scipy.signal import stft\n", "\n", "opt = {\"compute\":True, \"Dres_min\":50}\n", "debug_ON = False\n", "\n", "# chirp start freq\n", "f0m = 60e9\n", "# chirp bandwidth\n", "bw = 1e6\n", "# chirp slope\n", "k=800e6\n", "# t_inter_chirp\n", "t_ic = 2e-3 # 1/2e5\n", "# chirp count\n", "NC=4096\n", "# sampling frequency\n", "fs_if = 21e4\n", "x0, y0, z0 = 500, 0, 500\n", "\n", "chirp_end_time0 = bw/k\n", "\n", "radar = Radar(transmitter=Transmitter(chirp_end_time=chirp_end_time0, \n", " chirp_slope=k,\n", " chirp_start_freq=f0m,\n", " chirp_period=t_ic,\n", " chirp_count=NC),\n", " receiver=Receiver(adc_sample_rate=fs_if,\n", " adc_sample_count=256,\n", " adc_sample_count_max=60000,\n", " debug=debug_ON),\n", " debug=debug_ON)\n", "\n", "xt0 = lambda t: v0*t\n", "xt1 = lambda t: xt0(t) + 1*sin(2*pi*f1*t)\n", "\n", "# Targets position and speed\n", "xt0 = lambda t: x0+10*t\n", "# 3 rps\n", "f1 = 0.5\n", "xt1 = lambda t: xt0(t) + 0.1*sin(2*pi*f1*t)\n", "scatterer0 = Scatterer(x0, 0, z0, xt=lambda t: xt0(t))\n", "scatterer1 = Scatterer(x0, 0, z0, xt=lambda t: xt1(t))\n", "\n", "bb = rt_points([radar], [scatterer0, scatterer1],\n", " radar,\n", " datatype=complex, raytracing_opt=opt)\n", "# take the first frame (since only one anyway)\n", "cube = bb[\"adc_cube\"][0, :, 0, :]\n", "# find the range bin where targets are\n", "range_fft = fft(cube)\n", "peaks, _ = find_peaks(abs(range_fft[0])) # , height=8)\n", "\n", "p0 = peaks[0]\n", "range_bin = range_fft[:,p0]\n", "seg_n = NC//64\n", "_,_,B = stft(range_bin, nperseg=seg_n, return_onesided=False)\n", "C = abs(fftshift(B, axes=0))\n", "C = C[:,]\n", "plt.title(\"STFT $\\mu$-Doppler spectrogram\")\n", "plt.imshow(C[:,:])\n", "plt.show()\n", "\n" ] }, { "cell_type": "markdown", "id": "3347c0a5-ecc1-42e0-b74b-9eed0957bea5", "metadata": { "id": "3347c0a5-ecc1-42e0-b74b-9eed0957bea5" }, "source": [ "### Retrieve oscillation data from uDOP\n", "\n", "Simples logic: get the doppler peak location, get the FFT index of those and compare to the setting used to create micro-doppler" ] }, { "cell_type": "code", "execution_count": 75, "id": "f1f99da8-9a53-4595-ae82-3f2d247c0c41", "metadata": { "id": "f1f99da8-9a53-4595-ae82-3f2d247c0c41" }, "outputs": [ { "data": { "image/png": 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", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "ename": "AssertionError", "evalue": "", "output_type": "error", "traceback": [ "\u001b[1;31m---------------------------------------------------------------------------\u001b[0m", "\u001b[1;31mAssertionError\u001b[0m Traceback (most recent call last)", "Cell \u001b[1;32mIn[75], line 14\u001b[0m\n\u001b[0;32m 9\u001b[0m ym \u001b[38;5;241m=\u001b[39m find_peaks(Y)[\u001b[38;5;241m0\u001b[39m][\u001b[38;5;241m0\u001b[39m]\n\u001b[0;32m 10\u001b[0m \u001b[38;5;66;03m# non regression hook:\u001b[39;00m\n\u001b[0;32m 11\u001b[0m \u001b[38;5;66;03m# verify that the frequency measured is the same\u001b[39;00m\n\u001b[0;32m 12\u001b[0m \u001b[38;5;66;03m# as setup at beginning of simulation\u001b[39;00m\n\u001b[0;32m 13\u001b[0m \u001b[38;5;66;03m# broken during 0.0.11-rc2\u001b[39;00m\n\u001b[1;32m---> 14\u001b[0m \u001b[38;5;28;01massert\u001b[39;00m ym \u001b[38;5;241m==\u001b[39m F1\n", "\u001b[1;31mAssertionError\u001b[0m: " ] } ], "source": [ "NC1, NF1 = udops1.shape\n", "dops = []\n", "for frame_idx in range(NF1):\n", " dop = find_peaks(udops1[:, frame_idx])[0][0]\n", " dops.append(dop)\n", "Y = fft(dops)\n", "plt.plot(np.abs(Y))\n", "plt.show()\n", "ym = find_peaks(Y)[0][0]\n", "# non regression hook:\n", "# verify that the frequency measured is the same\n", "# as setup at beginning of simulation\n", "# broken during 0.0.11-rc2\n", "assert ym == F1" ] }, { "cell_type": "code", "execution_count": null, "id": "a38218d8-3d2f-4be1-a51c-e106eff78537", "metadata": { "id": "a38218d8-3d2f-4be1-a51c-e106eff78537", "outputId": "dc8d41e0-f6d8-4b88-a8fd-6d06fbf55887" }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "last successful run on \n", "2024-10-27 16:13:46.384196\n" ] } ], "source": [ "print(\"last successful run on \")\n", "print(datetime.datetime.now())\n", "print(mmWrt_ver)" ] } ], "metadata": { "colab": { "provenance": [], "toc_visible": true }, "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.10.9" } }, "nbformat": 4, "nbformat_minor": 5 }