Introduction
The Navtech Radar SDK provides a simple interface to communicate with Radar sensors. As well as ROS and ROS2 examples, the SDK includes source code for Python, C++ , & a simple .NET DLL that can easily be integrated into applications running on Windows and Linux. The Navtech Radar Bitbucket repository also contains some simple Python scripts which both demonstrate network communication with radar sensors and provide a visualisation of the received data.
Navtech Radar sensors provide output in one or both of two four modes: “
Colossus FFT data
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(sometimes referred to as
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“raw” radar data. Communication with Navtech Radar sensors is over
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a TCP/IP connection and utilises a proprietary binary communication protocol called Colossus Network Protocol. The SDK abstracts this protocol to avoid having to develop the low level socket and messaging processing code. However you can develop your own interface without the SDK if required and the protocol documentation will provide all the information you need to achieve this.
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Code downloads are accessible here.
Navigation output - a simple point output format from the radar using it’s Colossus Network Protocol. In this mode, the radar applies a threshold to the data representing its' field of view, and a range value in units of metres is returned, corresponding to the “centre” of each peak in the radar’s measurements. The SDK provides support for this mode, allowing developers to receive either type of data from the sensor and also send control messages back.
ASTERIX Cat240 (Radar Video) - An industry standard for the “transmission of rotating radar video” over a UDP network connection.
CFAR Point Cloud output - a UDP stream of bearing and range (measured in integer “bins”) point-pairs corresponding to any “bins” of data that pass a Cell-Averaging CFAR extraction process. When a radar is configured to operate in this mode via its' web interface, the configuration parameters for this mode are sent to the radar via the Colossus Network Protocol over a TCP/IP connection.
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Note that when consuming radar output in the CFAR Point Cloud mode or as “Raw” data, conversion from integer bin “number” to range in metres can be done by using the multiplication factor named “Bin Size / Resolution” within the radar’s configuration message. |
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