An-Najah National University
Faculty of Engineering
Department of Communication Engineering
Final Project year 2014
Target Tracking using Doppler radar
Prepare by: Mohammad Alawneh, Bara Sous, Hasan Khalid
Submitted to:Dr. Falah Hasan
Eng. Jamal Kharosheh
Abstract
This project use pulse Doppler radar to track target (determine the
target velocity and distance), the main technology of this project is
Doppler Effect (A change in the observed frequency of a wave, as
electromagnetics, occurring when the source and observer are in
motion relative to each other, with the frequency increasing when
the source and observer approach each other and decreasing when
they move apart. The motion of the source causes a real shift in
frequency of the wave, while the motion of the observer produces
only an apparent shift in frequency).
The second technology is power receive, the value of power
determine the target distance (power receive proportional to
distance)
Key Word: Doppler Effect, power receive, pulse duration, and
frequency operation.
Table of Contents
Chapter .1 Introduction ....................................................................................... 1
Chapter .2 History of Radar ................................................................................ 2
Chapter.3 Radar Systems .................................................................................... 3
3.1 Radar Principle ............................................................................................ 3
3.2 Radar Equation and System Considerations ..................................................... 4
3.3 Common Radar Types ................................................................................... 5
3.4 Frequency Regulation.................................................................................... 5
3.5 Radar a Frequency Band ............................................................................... 6
3.6 Radar Application ......................................................................................... 8
Chapter.4 pulse Doppler Radar ........................................................................... 9
4.1 Principle of Doppler Radar ............................................................................ 9
4.2 Typical Doppler Radar System ..................................................................... 11
4.3 Distance Measurement ................................................................................ 11
Chapter.5 System Implementation ...................................................................... 14
5.1 Microwave Motion sensor (HB100)............................................................... 15
5.2 Low Frequency High Gain Amplifier ............................................................. 18
5.3 Microcontrollers (Arduino UNO).................................................................. 19
5.4 Result ........................................................................................................ 20
Chapter .6 Feasibility Study............................................................................... 21
Chapter.7 Conclusions and Future work ............................................................. 22
7.1 Conclusion ................................................................................................. 22
7.2 Future work ................................................................................................ 22
References ....................................................................................................... 23
Appendix A ...................................................................................................... 24
CD Attachment ................................................................................................. 27
List of Figure
Figure 1 Basic radar principle and operation. ................................................................ 3
Figure 2 Radar configurations (a) Monostatic radar (b) Bistatic radar. ......................... 4
Figure 3 Doppler shift and wave reflection ................................................................... 9
Figure 4 Doppler Shift Caused by Relative Motion of the Target. .............................. 10
Figure 5 Doppler Frequencies vs. Relative Speed of the Target. ................................ 10
Figure 6 Typical Doppler Radar (Motion Detectors). ................................................. 11
Figure 7 Voltage Controlled Transceiver. ................................................................... 12
Figure 8 Gunn Voltage Controlled Oscillator Frequency vs. Time. ............................ 12
Figure 9 Dopler Radar System(contenouce wave ). ................................................... 14
Figure 10 Dopler Radar System (Pulse wave). ............................................................ 14
Figure 11 HB100 module (hardware and simulink) ................................................... 15
Figure 12 Rediation Pattern of the module . ................................................................ 16
Figure 13 Simulink of Low Frequency High Gain Amplifer . .................................... 18
Figure 14 Arduino UNO revession 3 . ......................................................................... 19
Figure 15 Basic radar module and operation. .............................................................. 22
List of Table
Table 1 American Institutes of Aeronautics and Astronautics for radar frequency
band. ............................................................................................................................... 6
Table 2 Radar frequency band use in worldwide police radar. ...................................... 7
Table 3 ITU frequency band use in radar system . ........................................................ 7
Table 4 experimentally reading of speed and distance. ............................................... 20
Table 5 Project coast. ................................................................................................... 21
Chapter .1 Introduction
Radar stands for radio detection and ranging. It operates by radiating
electromagnetic waves and detecting the echo returned from the targets. The nature
of an echo signal provides information about the target range, direction, and velocity.
Although radar cannot reorganize the collar of the object and resolve the detailed
features of the target like the human eye, it can see through darkness, fog and rain,
and over a much longer range. It can also measure the range, direction, and velocity
of the target.
Basic radar consists of a transmitter, a receiver, and a transmitting and receiving
antenna. A very small portion of the transmitted energy is intercepted and reflected by
the target. A part of the reflection is reradiated back to the radar (this is called backreradiating). The back-reradiating is received by the radar, amplified, and processed.
The range to the target is found from the time it takes for the transmitted signal to
travel to the target and back. The direction or angular position of the target is
determined by the arrival angle of the returned signal. A directive antenna with a
narrow beamwidth is generally used to find the direction.
The relative motion of the target can be determined from the Doppler shift in the
carrier frequency of the returned signal. Although the basic concept is fairly simple,
the actual implementation of radar could be complicated in order to obtain the
information in a complex environment.
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Chapter .2 History of Radar
Before RADAR could be born, scientists first needed to understand the principles
of radio waves. In 1887, a physicist named Heinrich Hertz began experimenting
with radio waves in his laboratory in Germany. He found that radio waves could
be transmitted through different materials. Some materials reflected the radio
waves. He developed a system to measure the speed of the waves. The data he
collected, and the information he uncovered, encouraged further scientific
investigation of radio.
Hertz's experiments were the foundation for the development of radio
communication, and, later, RADAR.
Thirty years later, scientists around the world were researching the practical use
of radio waves to detect and locate objects. Throughout the 1920s and 1930s,
great effort was put into developing a system by which you could transmit and
receive radio waves, providing useful information.
By the 1940s, and the outbreak of World War II, the first useful RADAR systems
were in place. Germany, France, Great Britain, and the United States all used
RADAR to navigate their ships, guide their airplanes, and detect enemy craft
before they attacked.
In the midst of war, the most significant peacetime application of RADAR was
discovered. During the war, RADAR operators continually found precipitation,
like rain and snow, appearing in their RADAR fields. Scientists had not known that
RADAR would be sensitive enough to detect precipitation. Only during the war did
the use of RADAR to study weather become obvious.
Today, RADAR is an essential tool for analyzing and predicting the weather.
2
Chapter.3 Radar Systems
Figure 1 Basic radar principle and operation.
Automotive safety systems require information about the objects in the vicinity of the
vehicle. These data are usually obtained by sensing the surroundings. A typical sensor
system usually transmits a signal and estimates the attributes of the available targets,
such as velocity or distance from the sensor, based on the measurement of the
scattered signal. The signal used for this purpose in radar (radio detection and
ranging) systems is an electromagnetic (EM) wave at microwave frequencies. The
main advantage of radar systems compared to other alternatives such as sonar or
lidar is the immunity to weather conditions and potential for lower cost realization.
3.1 Radar Principle
Radar systems are composed of a transmitter that radiates electromagnetic waves of a
particular waveform and a receiver that detects the echo returned from the target.
Only a small portion of the transmitted energy is re-radiated back to the radar, which
is then amplified, down-converted and processed. The range to the target is evaluated
from the travelling time of the wave. The direction of the target is determined by the
arrival angle of the echoed wave. The relative velocity of the target is determined
from the Doppler shift of the returned signal.
For automotive radar applications the separation between the transmitter and
receiver is negligible compared to the distance to a target. Thus, these systems are
monostatic in a classical sense. However, the automotive radar systems are usually
referred to as bistatic when two separate antennas are used for transmit and receive
and monostatic when the same antenna is used for these functions. The latter
configuration requires a duplexer component to provide isolation between transmitter
and receiver. This is usually realized using expensive external bulky transmit/receive
(T/R) switch or circulator components. The solution of using hybrid ring coupler
3
offers a cost advantage at the expense of lower performance due to higher losses and
increased noise figure.
(a)
(b)
Figure 2 Radar configurations (a) Monostatic radar (b) Bistatic radar.
3.2 Radar Equation and System Considerations
The radar equation provides the received power level as function of the
characteristics of the system, the target and the environment. The well-known bistatic
radar equation is given by.
(Eq. 1)
Where Pr is the received power, Pt is the transmitted power, Aer and Aet are the
effective area of the receive and transmit antennas, respectively,R is the distance to
the target, σ is the radar cross-section (RCS), defined as the ratio of the scattered
power in a given direction to the incident power density and Lsys is the system loss
due to misalignment, antenna pattern loss, polarization mismatch, atmospheric loss .
Taking into consideration that the effective area of the receive and transmit antenna
is related to the wavelength λ and to the antenna gain Gr and Gt, as Aer=Grλ2/4π and
Aet=Gtλ2/4π.
Radar equation can be rewritten as
(Eq.2)
Based on the system characteristics and the noise floor of the receiver a certain
minimal signal power level Pr, min is required in order to detect the target. Thus,
from (2.2) the maximum achievable radar range can be calculated as follows
(Eq.3)
Furthermore, in most practical designs a minimal signal to noise ratio (SNR) at the
output of the receiver SNRo,minis considered in order to ensure high probability of
4
detection and low false-alarm rate. Typically, SNR values of higher than 12 dB are
required. The noise factor of a receiver is defined as
(Eq.4)
Where Si and So are the input and output signal levels, respectively, Noise the noise
level at the receiver output and Ni is the input noise level, given by
(Eq.5)
Where B is the system band width, k B is the Boltzmann constant and T is the
temperature in Kelvin. Taking into consideration that there is an additional
processing gain due to the integration over several pulse.
Another limiting case, referred to as the blocker case, is the scenario of a large target
with maximum RCS being present very close to a radar at a minimal distance of
operation. This sets the requirement on the front-end linearity in terms of inputreferred 1dB compression point (IP1dB), which should be typically above −15 dBm.
Combination of both mentioned limiting cases results in a requirement on the
receiver’s dynamic range (DR), which usually should be above 70 dB
3.3 Common Radar Types
Main types of basic radar are Pulse Radar and Continence radar.
Pulse radar sets transmit a high-frequency impulse signal of high power. After this
impulse signal, a longer break follows in which the echoes can be received, before a
new transmitted signal is sent out. Direction, distance and sometimes if necessary the
height or altitude of the target can be determined from the measured antenna position
and propagation time of the pulse-signal.
These classically radar sets transmit a very short pulse (to get a good range
resolution) with an extremely high pulse-power (to get a good maximum range).
Continuous Wave Radar (CW) radar sets transmit a high-frequency signal
continuously. The echo signal is received and processed permanently too. The
transmitted signal of this equipment's is constant in amplitude and frequency. These
equipment's are specialized in speed measuring. E.g. this equipment's are used as
speed gauges of the police.
3.4 Frequency Regulation
The performance of radar systems and the applied waveform principles are strongly
influenced by the frequency regulations. The maximum allowable power limits and the
corresponding measurement procedures for 10.525 GHz radar systems are defined in
5
the HB 100 standard. This document defines the spectral mask of the maximum
allowed transmitter power in the ISM and UWB frequency bands around 10.5 GHz.
The limit for the transmitted power is given as equivalent isotropic radiated power
(EIRP). The EIRP value is given in dBm by adding the gain of the transmitter antenna
to the actual transmitter power.
PEIRP (dBm) =PTX (dBm) +GTX (dB)
(Eq.6)
In the ISM band from 10.52 GHz to 10.53 GHz the maximum power is constrained to
20 dBm. For the ultra-wide band from 8.0 GHz to 12.0 GHz a maximum power
spectral density of only −40.3dBm/MHz is allowed. This spectral density is very low
and can only be used by pulsed systems with high bandwidth.
On the world many agency and institute set a lot of standard to implement many
communication system such as, International Telecommunication Union (ITU),
American Institute of Aeronautics and Astronautics(AIAA) and The electronic
countermeasures (ECM) .
3.5 Radar a Frequency Band
Table 1 American Institutes of Aeronautics and Astronautics for radar frequency
band.
Band
Designation
Frequency
Range
VHF
UHF
50-330 MHz
300-1,000
MHz
L
1-2 GHz.
Long-range surveillance, enroot traffic control
S
2-4 GHz.
Moderate-range surveillance, terminal traffic control,
long-range weather
C
4-8 GHz.
Long-range tracking, airborne weather
X
8-12 GHz.
Short-range tracking, missile guidance, mapping,
marine radar, airborne intercept
Ku
K
Ka
12-18 GHz.
18-27 GHz.
27-40 GHz.
High resolution mapping, satellite altimetry
Little used (H20 absorption)
Very high resolution mapping, airport surveillance
mm
Typical Usage
Very long-range surveillance
Very long-range surveillance
40-100+ GHz. Experimental
6
Source: AIAA (American Institute of Aeronautics and Astronautics)
Table 2 Radar frequency band use in worldwide police radar.
Band
Frequency
Wavelength
Notes
S
2.455 GHz
4.827 in
12.261 cm
obsolete
X
9.41 GHz
1.254 in
3.186 cm
Europe
X
9.90 GHz
1.192 in
3.028 cm
Europe
X
10.525 GHz
1.121 in
2.848 cm
USA
Ku
13.450 GHz
0.878 in
2.229 cm
Europe
Middle East
K
24.125 GHz
0.4892 in
1.243 cm
USA, Australia, Europe
K
24.150 GHz
0.4897 in
1.241 cm
USA
Ka
33.4 - 36.0 GHz
IR -- Infrared
331.6 THz
0.353 - 0.328 in
USA, Australia, Europe
8.976 - 8.328 mm
904 nm
Laser Radar
ITU Radar Bands: - The International Telecommunications Union (ITU) specifies
bands designated for radar systems. The ITU radar bands are sub-bands of military
designations.
Table 3 ITU frequency band use in radar system .
ITU Band
Frequency
VHF
138 - 144 MHz
216 - 225 MHz
UHF
420 - 450 MHz
890 - 942 MHz
L
1.215 - 1.400 GHz
S
2.3 - 2.5 GHz
2.7 - 3.7 GHz
C
5.250 - 5.925 GHz
X
8.500 - 10.680 GHz
7
Ku
13.4 - 14.0 GHz
15.7 - 17.7 GHz
K
24.05 - 24.25 GHz
Ka
33.4 - 36.0 GHz
3.6 Radar Application
Typical radar applications are listed here to give an idea of the huge importance of
Radar in our world.
Surveillance: - Military and civil air traffic control, ground-based, air borne, surface
coastal, satellite based.
Searching and tracking: - Military target searching and tracking.
Fire control:-Provides information (mainly target azimuth, elevation, range and
velocity) to a fire control system.
Navigation:-Satellite, air, maritime, terrestrial navigation.
Automotive: - Collision warning, adaptive cruise control (ACC), collision avoidance.
Level measurements:-For monitoring liquids, distances, etc.
Proximity fuses:-Military use Guided weapon systems require a proximity fuse to
trigger the explosive warhead.
Altimeter:-Air craft or space craft altimeters for civil and military use.
Terrain avoidance:-Air has borne military use.
Secondary radar:-Transponder in target responds with coded reply signal.
Weather:-Storm avoidance, wind shear warning, weather mapping.
Space:-Military earth surveillance, ground mapping, and exploration of space
environment.
Security:-Hidden weapon detection, military earth surveillance.
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Chapter.4 pulse Doppler Radar
Figure 3 Doppler shift and wave reflection
Pulse-Doppler is a radar system capable of detecting a target's 3D location and its
radial velocity (range-rate). The radar transmits short pulses of radio frequency
which are partially bounced back by airborne objects or spacecraft. In a typical
operation, the energy returned from a dozen or more pulses are combined
using Pulse-Doppler signal processing, based on the Doppler Effect, to extract the
information.
4.1 Principle of Doppler Radar
When microwave energy is reflected by a moving target, there is a shift in frequency.
All Doppler radars utilize this principle. The amount of frequency shift is directly
proportional to the target’s velocity relative to the radar’s transmitter. A similar
effect at audible frequencies occurs when an automobile horn is moving with respect
to a stationary observer. The sound pitch is higher when the horn is moving toward
the observer and decreases as it moves away from him. Figure 2 snows the situation
of a target vehicle approaching a Doppler radar. The Doppler shift frequency (Fd) is
given by:
(Eq.7)
Where
9
F0 = transmitter frequency in hertz.
C = velocity of light (3 x 10^8 meters per second).
V = velocity of the target (meters per second).
∅= angle between microwave beam and target’s path.
Figure 4 Doppler Shift Caused by Relative Motion of the Target.
If ∅= 90 degrees (target moving perpendicular to microwave beam) Fd = 0, there is
no Doppler shift.
If ∅– 0 degrees (target moving parallel to microwave beam),
Fd = 2 V (F0/C), which gives the maximum Doppler shift attainable. Most police
radars are used at an angle of ~15° (or less) when measuring automobile speed. The
error is small and normally corrected in the software of high-quality police radar.
Figure 3 is a chart showing Doppler shift frequency (Fd) vs. velocity (V) for 10.525,
24.150 and 34.3 GHz. These are the usual frequencies used for police radars.
Figure 5 Doppler Frequencies vs. Relative Speed of the Target.
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4.2 Typical Doppler Radar System
A typical Doppler radar is represented by the block diagram in Figure 32.1 This
system consists of an RF (i.e., microwave) section, a signal processing section, and a
well regulated power supply.
Figure 6 Typical Doppler Radar (Motion Detectors).
In order to design a Doppler radar system, one must first know:
1. The maximum range at which a target is to be detected (This determines the overall
sensitivity and transmitter power required for the transceiver. It may also influence
the antenna gain required.)
2. The maximum and minimum target speeds that the system is to measure (This
determines the characteristics of the amplifier and its bandpass filter.)
3. The nominal radar cross section of the “target” one wishes to “observe”.
4. Other environmental factors such as rain fog or dust.
For example, with the transmitter frequency 10.525 GHz, a vehicle traveling 50 mph
causes a Doppler shift of 1568 Hz, which will be the IF frequency. This IF voltage is
usually only a few microvolts RMS. at the mixer port in normal usage.
4.3 Distance Measurement
The distance or range of a stationary target may be determined by changing the
frequency of the transmitted signal during the “radar pulse” at a linear and known
rate, and then comparing the frequency of the return to the transmitted signal. This
can be done with a simple VCO transceiver.
11
Figure 7 Voltage Controlled Transceiver.
The return signal will be shifted in frequency with respect to the initial signal
transmitted. This shift (∆f) will be directly related to the amount of (∆T) time it takes
for the signal to make the round trip. We call this quantity the “transit time”. The
transit time (T) is approximately 1 microsecond for a target 150 meters away (~500
feet). (Microwave propagation occurs at the speed of light — approximately 1
nanosecond per foot).
Figure 8 Gunn Voltage Controlled Oscillator Frequency vs. Time.
The range of a stationary target can then be calculated by determining the transit
time of the radar signal to and from the target, and multiplying that by the speed of
light. The transit time in seconds is given by the absolute value of the difference in the
transmitted and return signal.
(Eq.8)
Where
Ft = transmitter frequency in Hz
Fr = return frequency in Hz
K = rate of frequency modulation of the transmitter in Hz/sec
Note: (Ft– Fr) is the IF frequency observed at the mixer’s IF port (Doppler
Frequency).
Then: The range is given by
12
(Eq. 9)
Where
C = speed of light in meters/sec =3 x 10^8 meters/sec.
T = transit time from (1) (in seconds).
R = range (in meters).
13
Chapter.5 System Implementation
Our hope of this project is implemented a Doppler Radar system (CW And Pulses)
system, as show in figure (9, 10).
Figure 9 Dopler Radar System(contenouce wave ).
Figure 10 Dopler Radar System (Pulse wave).
14
To implement this system use many electrical tools such as HB100, Low Frequency
amplifier and microcontroller (Arduino UNO).
5.1 Microwave Motion sensor (HB100)
Figure 11 HB100 module (hardware and simulink)
1. Introduction
HB Series of microwave motion sensor module are X-Band Mono-static DRO
Doppler transceiver front-end module. These modules are designed for movement
detection, like intruder alarms, occupancy modules and other innovative ideas.
The module consists of Dielectric Resonator Oscillator (DRO), microwave mixer and
patch antenna.
His Application Note highlights some important points when designing-in HB100
module. Most of the points are also applicable to other models in this series.
2. Mounting
Header Pins can be used to connected the terminals (+5V, IF, GND) to the amplifier
circuit as well as mounting support. Other mounting methods may be used.
Wave-solder the module onto PCBA is possible but processes has to be evaluated to
prevent deterioration. No-cleaning process is recommended.
Caution must be taken to avoid applying pressure or stresses to the chassis of the
module. As it may cause performance deterioration.
Connect the power supply, Ground and amplifier circuitry at the designed terminals.
Designation of the connection terminals are printed on the PCB.
15
3. Power Supply
The module operates at +5 Vdc for Continuous wave (CW) operation .
The module can be powered by +5V low duty cycle pulsed trains in order to reduce
its power consumption. Sample & Hold circuit at the IF output is required for pulse
operation.
4. Transmit Frequency
The transmit frequency and power of the module is set by factory. There is no user
adjustable part in this device. The module is a low power radio device (LPRD) or
intended radiator. Local radio communication authority regulates use of such a
device. Though user license may be exempted, type approval of equipment or other
regulation compliance may be required.
5. Radiation Pattern
The module to be mounted with the antenna patches facing to the desired detection
zone. The user may vary the orientation of the module to get the best coverage. The
radiation patterns of the antenna and their half power beam width (HPBW) are
shown in below diagram.
Figure 12 Rediation Pattern of the module .
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6. Output Signals
Doppler shift- Doppler shift output from IF terminal when movement is detected. The
magnitude of the Doppler Shift is proportional to reflection of transmitted energy and
is in the range of microvolts (µV). A high gain low frequency amplifier is usually
connected to the IF terminal in order to amplify the Doppler shift to a process able
level (see Annex 1). Frequency of Doppler shift is proportional to velocity of motion.
Typical human walking generates Doppler shift below 100 Hz. Doppler frequencies
can be calculated by Doppler equation.
The Received Signal Strength (RSS) is the voltage measured of the Doppler shift at the
IF output. The RSS figure specified in the technical data sheet is level of a 25 Hz
Doppler shift, generate from the modulated microwave signal received at the received
antenna, The received microwave signal is attenuated to 93 dB below the transmit
microwave signal from the transmit antenna of the same unit.
The 93dB loss is the total losses combining two ways free space loss (82.4 dB for 30
meters at 10.525 GHz), reflection less and absorption loss of the target, as well as
other losses. This RSS figure can be view as an approximation of the output signal
strength for a human at 15 meters away walking straight to the module at 1.28
km/hour. Reflection of a human body is varied with the size of the body, clothing,
apparels and other environmental factors; RSS measured for two human bodies may
vary by 50%. Circuit designer must take note the maximum and minimum Received
Signal Strength (RSS) specified in technical data sheet, when designing the amplifier.
Sensitive deviation between modules has to be considered when setting amplifier gain
or alarm threshold. On-production-line gain adjustment may be necessary if a narrow
window for triggering threshold is required.
Noise- The noise figure specified in the technical data sheet is the noise measured in
an echoic chamber, that shield the unit-under-test from external interference, as well
as reflection from surfaces.
Hence, the figure is only presenting the noise generated by the internal circuit itself.
Other than noises generate from internal electronic circuit, in actual applications,
other noises may be picked up from surrounding, or other part of the electronic
circuit.
Specially attention has to be given to the interference pick up from fluorescent light,
as the 100/120 Hz noise is closed to the Doppler frequency generated by human
movement On and off switching of certain devices (relay, LED, motor, etc.) may
generated high magnitude of transient noise at the IF terminal. Careful PCB layout
and time masking is necessary to prevent false triggering.
V1.02 DC Level- DC level (0.01 to 0.2 Vdc) exists at the IF terminal and its polarity
can be positive and negative. Its magnitude may vary over temperature. AC coupling
is recommended for IF terminal connection.
17
5.2 Low Frequency High Gain Amplifier
Low Frequency High Gain Amplifier or Intermediate Frequency Amplifier (IFAmp) is
tuned amplifiers used in radio, TV and radar. Their purpose is to provide the majority
of the voltage amplification of a radio, TV or radar signal, before the audio or video
information carried by the signal is separated (demodulated) from the radio signal.
They operate at a frequency lower than that of the received radio signal, but higher
than the audio or video signals eventually produced by the system. The frequency at
which I.F. amplifiers operate and the bandwidth of the amplifier depends on the type
of equipment.
The characteristic of this Amplifier is:Corner frequency around 1000 Hz.
Gain around 40 dB.
Low noise and offset.
Figure 13 Simulink of Low Frequency High Gain Amplifer .
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5.3 Microcontrollers (Arduino UNO)
Figure 14 Arduino UNO revession 3 .
The Arduino Uno is a microcontroller board based on the ATmega328 (datasheet). It
has 14 digital input/output pins (of which 6 can be used as PWM outputs), 6 analog
inputs, a 16 MHz crystal oscillator, a USB connection, a power jack, an ICSP header,
and a reset button. It contains everything needed to support the microcontroller;
simply connect it to a computer with a USB cable or power it with a AC-to-DC
adapter or battery to get started. The Uno differs from all preceding boards in that it
does not use the FTDI USB-to-serial driver chip. Instead, it features the Atmega8U2
programmed as a USB-to-serial converter.
"Uno" means one in Italian and is named to mark the upcoming release of Arduino
1.0. The Uno and version 1.0 will be the reference versions of Arduino, moving
forward. The Uno is the latest in a series of USB Arduino boards, and the reference
model for the Arduino platform; for a comparison with previous versions, see the
index
of
Arduino
19
boards.
5.4 Result
Pulse Doppler radar transmitter produce Radio Frequency (RF) signal, and sent it
through the media to sense surrounding environment and estimate target information
such as velocity and distance. transmit wave operate at center frequency at 10.525
GHz, on the other hand system produce thermal noise around 3 dB, but in worst case
scenario the system keep the C/N as max as possible around 15 dB .
Receiver estimate the echo signal (wave produce due to reflection and scattering
wave from the target) .and estimate the change of frequency (Doppler frequency) to
predict the target speed. Moreover estimate max power receiver and time duration
between transmit and receive pulse to predict the target distance. But the system
includes many type of error due to power and frequency fading on the channel.
Finally system operates in high C/N to reduce the error and increase the accuracy
and resolution C/N always around 9.5 dB .
In the end create table of result include experimental reading, and tack in account all
type of error to increase accuracy on the system .
Table 4 experimentally reading of speed and distance.
Experiments
.1
.2
.3
.4
.5
Frequency
10
23
100
500
1000
Speed (Km/H)
0.523
1.200
5.131
25.654
50.31
20
Time (MS)
0.01
0.02
0.03
0.04
0.05
Distance (M)
3
6
9
12
15
Chapter .6 Feasibility Study
 Our idea is viable or not
There are some obstacles that could face the possibility of our project is to
insert a high frequency modules into the West Bank, Since the Israeli
occupation prohibits enter some of the tools that operate at high frequencies,
may be difficult to insert this module because of the reasons above. On the
other hand, build this module from zero may be difficult, because of the high
frequency components need a very high accuracy through alignment and
Welding process, which need special equipment's and these equipment not
available here.
 Alternative approaches and solutions to putting your idea into practice
We will have an alternative approach that allows using the HB100 radar
module, which will be available for us.
 Feasibility table
Table 5 Project coast.
Components
Microprocessor basic
circuit
b100 radar module
lcd
Battery
Total price
Number
Price
1
170₪
1
1
1
------------------------------
30$=107₪
50₪
10₪
337₪
21
Chapter.7 Conclusions and Future work
Figure 15 Basic radar module and operation.
7.1 Conclusion
This project use pulse Doppler radar system to determine the velocity and distance of
target, the velocity dependent on the Doppler effect (frequency change due to target
motion ),and distance dependent on the power receive .
The main component of the system is a filter (determine the system selectivity), and
amplifiers (determine the system sensitivity).
This system operate in X-band frequency (10.525 GHz) because this band is high
munity for noes and losses.
7.2 Future work
The second steps of this project try to implement the radar system as hardware using
HB 100 module. And determine the target information (Velocity, Distance, Angel of
Arrival, and Direction of motion).
The final hopes try to connect radar system with WEP to determine location of target,
and determine the environment Probabilities.
22
References
[1] Microwave Engineering, Fourth Edition, David M. Pozar
University of Massachusetts at Amherst.
[2] Microwave Device and circuit, third Edition, Samuel L. LIAO, Professor
Electrical Engineering, California state university, Fresno.
[3] RF and Microwaves Wireless Systems, KAI CHANG, Texas A&M University.
[4] Radar System Performance Modeling, Second Edition, G. Richard Curry.
[5]An Introduction to The Theory of microwaves Circuit, K. KUROKWA, and Murray
Hill, New Jersey.
[6] Radar Systems Analysis and Design Using MATLAB, Bassem R. Mahafza, Ph.D.
[7] Radar Technology Encyclopaedia (Electronic Edition), David K. Barton and
Sergey A. Leonov
[8] http://www.radartutorial.eu/09.receivers/rx10.en.html
[9] http://www.aewa.org/Library/rf_bands.html
[10 ] http://www.naval.com/radio-bands.htm
[9] http://www.mathworks.com/
[10] http://www.radartutorial.eu/07.waves/wa04.en.html
[11] http://arduino.cc/en/Main/arduinoBoardUno
23
Appendix A
/*
Pulse Doppler Radar System
This system generate PWM modulation in Pin 12 , and transmit the signal, wait the echo
signal to estimate the speed and target distance .
Pin 5 source of frequency .
Pin 12 PWM output .
Pin 10 Dc voltage .
In the end print the speed and distance on the screen and serial .
*/
#include <FreqCounter.h>
#include<LiquidCrystal.h>
LiquidCrystal lcd(2,3,4,6,7,8,9) ;
#define pwm 12
#define DCValue 10
unsigned long Frequency ;
double Velocity ;
double Vconst = 19.49 ;
double Distance ;
double Dconst = 150000000 ;
float Time0 = 0 ;
float Time1 = 0 ;
float Time = 0 ;
int Const = 0 ;
void setup()
{
pinMode(DCValue,OUTPUT) ;
pinMode(pwm,OUTPUT) ;
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Serial.begin(115200) ;
lcd.begin(16,2) ;
}
void loop()
{
/* creat PWM */
digitalWrite(pwm,HIGH) ;
Time0 = micros() ;
delayMicroseconds(20) ;
digitalWrite(pwm,LOW) ;
delayMicroseconds(480) ;
/* creat DC voltage */
digitalWrite(DCValue,HIGH) ;
/* Estimate the frequency of signal */
FreqCounter::f_comp=10 ;
FreqCounter::start(1000) ;
while (FreqCounter::f_ready == 0)
Frequency = FreqCounter::f_freq ;
/* print the value of frequency and velocity */
Serial.print("Frequency (Hz) : ") ;
Serial.println(Frequency) ;
Velocity = Frequency/Vconst ;
Serial.print(" Velocity (Km/H) : ") ;
Serial.println(Velocity) ;
lcd.setCursor(0,0) ;
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lcd.print(" Velocity (Km/H) : ") ;
lcd.setCursor(10,0) ;
lcd.print(Velocity) ;
/* Estimate the distamce of target */
if((digitalRead(5) == RISING)&& Const == 0 )
{
++Const ;
Time1 = micros() ;
Time = Time1 - Time0 ;
Distance = Dconst*Time ;
Serial.print(" Distance (M) :- ") ;
Serial.println(Distance) ;
Serial.println(" ") ;
lcd.setCursor(0,1) ;
lcd.print(" Distance (M) :-") ;
lcd.setCursor(10,1) ;
lcd.print(Distance) ;
}
Time0 = 0 ;
Time1 = 0 ;
Const = 0 ;
delay(2000) ;
}
26
CD Attachment
27