Fernando Fernández-Calatayud , Lucía Coto , David Alejo , José Javier Carpio , Fernando Caballero , Luis Merino
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引用次数: 0
摘要
ARS 548 RDI雷达是第五代77 GHz远程雷达传感器的高级型号，具有新型射频天线阵列，可提供数字波束形成。该雷达基于新调频脉冲压缩技术，在一个测量周期内，不需要任何反射器，即可独立测量目标的距离、速度和角度。不幸的是，据我们所知，目前还没有Linux系统可用的开源驱动程序，使用户能够分析传感器获取的数据。在本文中，我们提出了一个驱动程序，可以解释来自ARS 548 RDI传感器的数据，并使其在机器人操作系统版本1和2 （ROS和ROS2）上可用。因此，可以使用ROS提供的强大工具来存储、表示和分析这些数据。此外，我们的驱动程序提供了传感器提供的高级物体特征，例如每个物体的相对估计速度和加速度，其方向和角速度。我们专注于传感器的配置和驱动程序的使用，包括其过滤和表示工具。此外，我们提供了一个视频教程，以帮助在其配置过程中。最后，使用该传感器和Ouster OS1-32激光雷达传感器获得的数据集可以进行基线测量，以便用户可以检查我们的驱动程序的正确性。
The ARS 548 RDI Radar is a premium model of the fifth generation of 77 GHz long-range radar sensors with new RF antenna arrays, which offer digital beamforming. This radar measures independently the distance, speed, and angle of objects without any reflectors in one measurement cycle based on Pulse Compression with New Frequency Modulation. Unfortunately, to the best of our knowledge, there are no open-source drivers available for Linux systems to enable users to analyze the data acquired by the sensor. In this paper, we present a driver that can interpret the data from the ARS 548 RDI sensor and make it available over the Robot Operating System versions 1 and 2 (ROS and ROS2). Thus, these data can be stored, represented, and analyzed using the powerful tools offered by ROS. Besides, our driver offers advanced object features provided by the sensor, such as relative estimated velocity and acceleration of each object, its orientation and angular velocity. We focus on the configuration of the sensor and the use of our driver including its filtering and representation tools. Besides, we offer a video tutorial to help in its configuration process. Finally, a dataset acquired with this sensor and an Ouster OS1-32 LiDAR sensor, to have baseline measurements, is available so that the user can check the correctness of our driver.
期刊介绍：
SoftwareX aims to acknowledge the impact of software on today''s research practice, and on new scientific discoveries in almost all research domains. SoftwareX also aims to stress the importance of the software developers who are, in part, responsible for this impact. To this end, SoftwareX aims to support publication of research software in such a way that: The software is given a stamp of scientific relevance, and provided with a peer-reviewed recognition of scientific impact; The software developers are given the credits they deserve; The software is citable, allowing traditional metrics of scientific excellence to apply; The academic career paths of software developers are supported rather than hindered; The software is publicly available for inspection, validation, and re-use. Above all, SoftwareX aims to inform researchers about software applications, tools and libraries with a (proven) potential to impact the process of scientific discovery in various domains. The journal is multidisciplinary and accepts submissions from within and across subject domains such as those represented within the broad thematic areas below: Mathematical and Physical Sciences; Environmental Sciences; Medical and Biological Sciences; Humanities, Arts and Social Sciences. Originating from these broad thematic areas, the journal also welcomes submissions of software that works in cross cutting thematic areas, such as citizen science, cybersecurity, digital economy, energy, global resource stewardship, health and wellbeing, etcetera. SoftwareX specifically aims to accept submissions representing domain-independent software that may impact more than one research domain.
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