Performance verification test method for realizing Internet of Things radar module product

Abstract

The invention discloses a performance verification test method for an Internet of Things radar module product, relates to the field of radar module testing, and solves the technical problem that an existing radar module does not have a standardized radar module detection mode. The method comprises the following steps: acquiring operation parameters of the radar module, calculating the intensity of a radar sensing signal according to the operation parameters of the radar module, and judging the performance of the radar module according to the intensity of the radar sensing signal and the operation parameters of the radar module. According to the invention, the manpower and material resource cost of an existing radar module detection frame building mode is reduced, and the working efficiency of detection workers is improved.

Description

Technical Field

[0001] The present invention relates to the field of radar module testing, and more specifically, it relates to a method for realizing the performance verification test of Internet of Things radar module products. Background Art

[0002] With the wide application of the Internet of Things, the era of all things interconnected is gradually coming. For example, intelligent lighting radar sensing products play a key role in the connection of all things interconnected. The assembly and manufacturing of radar module sensing electronic products mainly involve functions such as radar induction spacing monitoring, environmental light sensitivity recognition sensitivity monitoring, radar signal interface feedback, related parameter configuration settings, and the association and bundling of radar module laser codes and chip coding UIDs.

[0003] At present, there is no standardized corresponding radar module detection, induction spacing detection, light sensitivity recognition, binding code association detection, radar parameter setting signal interface feedback, etc. for such "radar module sensing electronic products" in the industry. It still stays in the manual detection of radar module induction spacing and related light sensitivity recognition functions. Customized development and detection are required for related product requirements. Moreover, the existing assembly and manufacturing of radar module products still stay in the manual or non-systematic device for detection and manufacturing level problems. The efficiency of detecting and verifying the performance of the radar module during assembly and manufacturing is low, and the labor and material costs of the scaffolding method are relatively high. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method for realizing the performance verification test of Internet of Things radar module products to solve the technical problem of the lack of a standardized radar module detection method in the existing industry.

[0005] A method for realizing the performance verification test of Internet of Things radar module products according to the present invention is as follows: Obtain the operating parameters of the radar module, calculate the intensity of the radar sensing signal according to the operating parameters of the radar module, and judge the performance of the radar module according to the intensity of the radar sensing signal and the operating parameters of the radar module.

[0006] For further improvement, the method for judging the performance of the radar module according to the operating parameters of the radar module is as follows: The operating parameters of the radar module include the output voltage value between test point ports. Obtain the initial voltage value after the radar module is activated, and set the voltage standard range according to the initial voltage value;

[0007] When the output voltage value is less than or equal to the initial voltage value, it is judged that the performance of the radar module is abnormal;

[0008] When the output voltage value is greater than the initial voltage value and the output voltage value is within the voltage standard range, it is judged that the performance of the radar module is normal;

[0009] When the output voltage value is greater than the initial voltage value and the output voltage value is not within the voltage standard range, it is determined that the performance of the radar module is abnormal.

[0010] Further, the method for setting the voltage standard range according to the initial voltage value is as follows: Set the first-stage voltage threshold, the second-stage voltage threshold, and the third-stage voltage threshold. When the initial voltage value is greater than zero and less than or equal to the first-stage voltage threshold, set the minimum value of the voltage standard range to zero, and the maximum value of the voltage standard range to the first-stage voltage threshold;

[0011] When the initial voltage value is greater than the first-stage voltage threshold and less than or equal to the second-stage voltage threshold, set the minimum value of the voltage standard range to the first-stage voltage threshold, and the maximum value of the voltage standard range to the second-stage voltage threshold;

[0012] When the initial voltage value is greater than the second-stage voltage threshold and less than or equal to the third-stage voltage threshold, set the minimum value of the voltage standard range to the second-stage voltage threshold, and the maximum value of the voltage standard range to the third-stage voltage threshold.

[0013] Even further, the operating parameters of the radar module further include the band frequency. Determine the intensity of the echo signal according to the band frequency. When the intensity of the echo signal is greater than the preset signal threshold value, it is determined that the performance of the radar module is normal; when the intensity of the echo signal is less than or equal to the signal threshold value, it is determined that the performance of the radar module is abnormal.

[0014] Even further, the method for determining the performance of the radar module according to the radar sensing signal is as follows: When receiving the radar sensing signal and the received power of the radar sensing signal is less than the preset received power reference value of the radar sensing signal, it is determined that the performance of the radar module is abnormal;

[0015] When receiving the radar sensing signal and the received power of the radar sensing signal is greater than or equal to the received power reference value of the radar sensing signal, the preset delay time starts to be counted. When the received power of the radar sensing signal is always greater than or equal to the received power reference value within the delay time, it is determined that the performance of the radar module is normal;

[0016] When the received power of the radar sensing signal is less than the received power reference value of the radar sensing signal within the delay time, subtract the received power from the received power reference value to obtain a power difference. When the power difference is within the preset power difference standard range, it is determined that the performance of the radar module is normal; when the power difference is not within the preset power difference standard range, it is determined that the performance of the radar module is abnormal

[0017] Further, the operating parameters of the radar module include the system loss factor L, the distance R between the target and the radar, the radar cross-section area σ of the target, the radar wavelength λ, and the receiving antenna gain G r , the transmitting antenna gain G t , the received power P r and the transmitting power P t . Through the system loss factor L, the distance R between the target and the radar, the radar cross-section area σ of the target, the radar wavelength λ, and the receiving antenna gain G r and the transmitting antenna gain G t , the transmitting power P t , calculate the received power P of the radar sensing signal r .

[0018] Further, the expression for calculating the received power P of the radar sensing signal r is as follows.

[0019]

[0020] where L is the system loss factor, R is the distance between the target and the radar, σ is the radar cross-section area of the target, λ is the radar wavelength, G r is the receiving antenna gain, G t is the transmitting antenna gain, P r is the received power, and P t is the transmitting power.

[0021] Advantageous Effects

[0022] The advantages of the present invention are as follows:

[0023] By obtaining the operating parameters of the radar module, calculating the intensity of the radar sensing signal based on the operating parameters of the radar module, and judging the performance of the radar module according to the intensity of the radar sensing signal and the operating parameters of the radar module, the present invention realizes the standardized detection of the radar module, reduces the labor and material costs of the existing radar module detection scaffolding method, and improves the work efficiency of the detection workers. Description of the Drawings

[0024] Figure 1 is a schematic diagram of the radar module calibration and detection system of the present invention;

[0025] Figure 2 is the first item list of the radar-related tests of the present invention;

[0026] Figure 3 is the second item list of the radar-related tests of the present invention;

[0027] Figure 4 is the software code for storing the key information values of the radar module products of the present invention;

[0028] Figure 5 List inventory of the SQL SERVER database platform for the present invention;

[0029] Figure 6 Networked information transmission flowchart of the test parameter data information for the present invention;

[0030] Figure 7 Schematic diagram of the background database of the test cloud for the present invention. Specific implementation manners

[0031] The following combines with embodiments to further describe the present invention, but does not constitute any limitation to the present invention. Any limited modifications made by anyone within the scope of the claims of the present invention are still within the scope of the claims of the present invention.

[0032] Refer to Figures 1-7 , a method for performing performance verification and testing on an Internet of Things radar module product of the present invention. The method is: obtaining the operating parameters of the radar module, calculating the intensity of the radar sensing signal according to the operating parameters of the radar module, and judging the performance of the radar module according to the intensity of the radar sensing signal and the operating parameters of the radar module. The present invention reflects the systematicness of the radar module performance detection device and the strong flexibility and scalability in the later stage. What the present invention demonstrates is a flexible manufacturing. This flexible manufacturing can detect faults at both the hardware level and the software level through the combined testing of various signals and voltage values, and the present invention reduces the detection cost.

[0033] As Figure 1 shown, the present invention uses network port communication as the connection link, uses RS232 serial port communication as the medium, uses the detection and test board built with the ARM chip framework as a single hardware module unit (which corresponds to the test points of the radar module product one by one), and uses a PC computer as the software control logic unit to act as the working base station. The computer base station loads the software logic control unit module to realize the control test of multi-channel independent asynchronous startup mode for background multi-thread interaction. Among them, the PC upper system is developed using the C# platform and the SQL SERVER platform, and penetrates deep into the code logic around the class object, involving data acquisition, data parsing, data logic judgment display, and data storage informatization and other related actions inside the thread.

[0034] The present invention also supports multi-channel control operations. According to the network port connection switch expansion method of the computer base station, the connection method of one-to-many is realized to expand the "radar module product". The number of channels started for testing at the same time, such as loading 4 channels or 24 channels for synchronous testing, so as to realize the real-time allocation of the number of channels for loading and starting the test according to the demand of product assembly production.

[0035] The method for judging the performance of a radar module based on its operating parameters is as follows: The operating parameters of the radar module include the output voltage value between test point ports. Obtain the initial voltage value after the radar module is activated, and set the voltage standard range according to the initial voltage value.

[0036] When the output voltage value is less than or equal to the initial voltage value, it is judged that the performance of the radar module is abnormal. When the output voltage value is greater than the initial voltage value and the output voltage value is within the voltage standard range, it is judged that the performance of the radar module is normal. When the output voltage value is greater than the initial voltage value and the output voltage value is not within the voltage standard range, it is judged that the performance of the radar module is abnormal.

[0037] The method for setting the voltage standard range according to the initial voltage value is as follows: For example, based on the initial voltage value after the radar module is activated, set it according to the fluctuation range value matched with this initial voltage value. The test platform presents to users in the form of a database data table, and the upper and lower limits of the corresponding voltage standard range can be flexibly set and adjusted according to different product model configurations. It realizes the standardized detection of the radar module, reduces the labor and material costs of the existing radar module detection setup method, and improves the work efficiency of detection workers.

[0038] Set the first-stage voltage threshold, the second-stage voltage threshold, and the third-stage voltage threshold. When the initial voltage value is greater than zero and less than or equal to the first-stage voltage threshold, set the minimum value of the voltage standard range to zero and the maximum value of the voltage standard range to the first-stage voltage threshold. When the initial voltage value is greater than the first-stage voltage threshold and less than or equal to the second-stage voltage threshold, set the minimum value of the voltage standard range to the first-stage voltage threshold and the maximum value of the voltage standard range to the second-stage voltage threshold. When the initial voltage value is greater than the second-stage voltage threshold and less than or equal to the third-stage voltage threshold, set the minimum value of the voltage standard range to the second-stage voltage threshold and the maximum value of the voltage standard range to the third-stage voltage threshold. The first-stage voltage threshold, the second-stage voltage threshold, and the third-stage voltage threshold are determined by the radar module.

[0039] The operating parameters of the radar module also include the software version number: This software version number is used to communicate and access the radar chip inside the radar module to identify whether the software version firmware burned in its internal radar chip is the expected software version. The software version is identified by comparing it with the "standard value". When the burned software version firmware is different from the "standard value" of the expected software version, an interception process is carried out; when the burned software version firmware is the same as the "standard value" of the expected software version, a release process is carried out.

[0040] The operating parameters of the radar module also include a result value, which is the checksum standard parameter matched with the built-in parameters of the radar module product of the current configuration scheme. This checksum standard parameter can be calculated using the cyclic redundancy check code CRC8 of the byte heap and is used to test whether the parameters matched by the radar module product of the current model are perfect. If the checksum pairing is incorrect, it is determined to be a substandard product.

[0041] The operating parameters of the radar module also include the band frequency. The intensity of the echo signal is determined according to the band frequency. When the intensity of the echo signal is greater than the preset signal threshold value, it is judged that the performance of the radar module is normal; when the intensity of the echo signal is less than or equal to the signal threshold value, it is judged that the performance of the radar module is abnormal. Thus, the performance of the radar module is tested by measuring the intensity of the echo signal, and the intensity of the echo signal directly reflects the radar's detection ability for weak signals.

[0042] The method for judging the performance of the radar module based on the radar sensing signal is as follows: when the radar sensing signal is received and the received power of the radar sensing signal is less than the preset reference value of the received power of the radar sensing signal, it is judged that the performance of the radar module is abnormal.

[0043] When the radar sensing signal is received and the received power of the radar sensing signal is greater than or equal to the reference value of the received power of the radar sensing signal, the preset delay time starts to count. When the received power of the radar sensing signal is always greater than or equal to the reference value of the received power of the radar sensing signal within the delay time, it is judged that the performance of the radar module is normal.

[0044] When the received power of the radar sensing signal is less than the reference value of the received power of the radar sensing signal within the delay time, the difference between the received power and the reference value of the received power is obtained as the power difference. When the power difference is within the preset standard range of the power difference, it is judged that the performance of the radar module is normal; when the power difference is not within the preset standard range of the power difference, it is judged that the performance of the radar module is abnormal.

[0045] The operating parameters of the radar module include the system loss factor L, the distance R between the target and the radar, the radar cross section σ of the target, the radar wavelength λ, the receiving antenna gain G r and the transmitting antenna gain G t , the received power P r and the transmitting power P t . Through the system loss factor L, the distance R between the target and the radar, the radar cross section σ of the target, the radar wavelength λ, the receiving antenna gain G r and the transmitting antenna gain G t , and the transmitting power P t the received power P of the radar sensing signal is calculated r . The system loss factor L includes various factors that cause signal attenuation, such as atmospheric attenuation, transmission line loss, etc.

[0046] The received power P of the radar sensing signal r is related to the signal strength that the radar can sense, and to a certain extent reflects the environmental light sensitivity. The greater the received power, the easier it is to detect the target, and the relatively higher the environmental light sensitivity. Environmental light sensitivity: It is used to detect the light sensitivity of the current environment sensed by the chip in the radar module product. It is transmitted back to the PC computer through communication by the radar chip, and the software loaded on the PC computer is used to analyze, extract, convert, and display it in digital form as the value of "environmental light sensitivity" on the main interface according to a certain algorithm.

[0047] Calculate the received power P of the radar sensing signal r The expression is

[0048]

[0049] where L is the system loss factor, R is the distance between the target and the radar, σ is the radar cross-sectional area of the target, λ is the radar wavelength, G r is the receiving antenna gain, G t is the transmitting antenna gain, P r is the received power, P t is the transmitting power.

[0050] After the radar module product is activated, connect the radar module product to the sampling circuit in the existing sampling device, use the ADC analog-to-digital conversion technology, and allocate corresponding resistance gear values according to different set upper limit values. Calculate the current value consumed by the radar module itself according to Ohm's law I = U / R. This detection method is commonly known as the self-power consumption detection of the radar module.

[0051] Such as Figures 2-3 shown, the operating parameters of the radar module also include the current Load output value, which is used to detect the load voltage level when the radar senses a signal and can be used for interception and comparison within the upper and lower limit ranges.

[0052] Motion sensing radar: That is, in the case of multi-threaded and multi-channel background operation, the fastest-running thread in the background is preferentially used to execute the action of raising the cylinder in place, so that the radar product can trigger perception (the radar module product is placed flat on the vehicle, and the cylinder is located below the radar module product. The distance between the cylinder and the radar module product can be shortened by the rising action of the cylinder, thereby triggering the perception of the radar module product. At the same time, the cylinder panel carries a photosensor device to enable the radar module product to identify the environmental light sense).

[0053] Power-on activation: The prerequisite for the radar module to monitor its functions is that the module product must be activated and powered on to meet the normal power supply VCC of the radar module product, so that the radar-related components are in a normal working state. Its power supply principle is that the software interface configured by the computer loads and transmits the power-on parameters, uses the control switch power supply to output the corresponding voltage value to the test point of the radar module product, and supplies the components of the radar module product with this voltage value to activate the relevant components, so that the radar module is in a normal working mode.

[0054] The operating parameters of the radar module also include the action Load level value: the output value for the voltage level change after radar sensing, which is significantly compared with the current Load output value item and can be used for interception comparison within the upper and lower limit ranges.

[0055] Reset action: That is, in the case of multi-threaded and multi-channel background operation, one of the fastest-running channel threads is preferentially selected to execute the action of controlling the cylinder to descend, so as to achieve reset in place.

[0056] That is, in the above test item list, with the Arm Cortex-M4 framework platform, the access timing of the radar module chip is written to access the register information in the chip. When collecting information, the computer PC side, that is, the host computer, classifies and assigns the register information in the chip in the form of class object encapsulation. The computer system allocates a memory area for storage to extract and parse the register information in the radar chip into string or digital form. Among them, the string-type information is intercepted and compared with the set standard value, and the digital-type information is intercepted and compared with the set upper and lower limit ranges. As Figure 4 shown, it is the way of passing values defined in the form of class objects to extract and store the "key information values of the radar module product". Modular programming and compilation are implemented for each test item inside it. The operation steps include communication access register collection, algorithm conversion and parsing, logical judgment and display, data information storage class object encapsulation, etc. This encapsulation mode of class objects can be better called in the code, with a low error rate, high recognition, and higher, faster, and more convenient code derivation degree and development efficiency. The above method ensures the integrity of relevant test data, preferentially saves local data, and prevents the risk of real-time upload loss of data information caused by network transmission packet loss and abnormal feedback received by the server.

[0057] As Figure 5As shown, each modular encapsulated test item can be supported by the SQL SERVER database platform (download parameters in the local single - machine version or server cloud mode) and can be edited, selected, sorted, saved, etc. by the outside world in the form of a list data table, so as to achieve the purpose of enabling and disabling the selection of the corresponding function test of the test item. The interval waiting delay setting between the procedural executions of each test item, the random combination and matching of the order of test items, and the efficient and fast import of product testing can all meet the randomly customized test item list of customers, reflecting the flexibility and diversity of module testing.

[0058] 3V Voltage Detection: This item is used to detect whether the voltage value at the circuit output point of the radar module product complies with the regulations, and controls the product characteristics by comparing and intercepting within the upper and lower limits.

[0059] The delay value is the response delay standard after the radar module senses and triggers, and relevant radar response parameter reference values are burned and configured here.

[0060] The result value is the checksum standard parameter matching the built - in parameters of the radar module product of the current configuration scheme. The calculation of this checksum can be calculated by the cyclic redundancy check code CRC8 of the byte heap, which is used to check whether the parameters matching the current model of the radar module product are consistent and perfect. If the pairing is incorrect, the product is determined to be unqualified.

[0061] The current threshold value refers to a critical value of signal strength or related parameters set to determine whether a target exists in the radar module signal detection. When the received radar echo signal exceeds the threshold value, the radar system considers that the target has been detected. It is a physical quantity measuring the sensitivity of the radar module. This parameter is set according to the product characteristics of the current radar module product and the required induction band frequency.

[0062] Set Radar Module Parameters: This item can match the baud rate settings adapted to different modules, set the control instruction values of the radar drive, and put the radar product chip in a certain state. For example, after setting the state of allowing open current, sending the following instruction "113C 3A 11FD 061A 80FF 00C8 FF FF FF FF FF 3A3E" can open the open - current state for input current detection.

[0063] Input Current Detection: After the radar module product is activated, connect the radar module product to the sampling circuit in the device, use ADC analog - to - digital conversion technology, allocate corresponding resistance gear values according to different upper limit values, and calculate the current value consumed by the radar module itself according to Ohm's law I = U / R, which is commonly known as the self - power consumption detection of the radar module.

[0064] Such as Figure 6As shown in the figure, the test parameter data information can be downloaded by accessing the WEBAPI method from the service layer (commonly known as the cloud) using a specified network protocol for downloading test parameters. After the client PC downloads the software, it can parse the relevant parameters through this protocol. Usually, the data information is extracted in the form of text information in JSON format and translated into information transmission in the form of class objects, and then called and used in the form of attribute names at the code layer to be stored in the local client memory storage unit for real-time calling by the client host system.

[0065] During the test process, one channel corresponds to one product test. During each product test, the data results of each test item are collected and coordinated in the form of class objects, and the relevant upper limits, lower limits, standard values, judgment results, and test result values are encapsulated into a file information package in JSON format. It is preferentially stored locally, and then the background asynchronously retrieves and actually transmits to the service layer (test data information interface), and realizes networked information transmission and background data parsing, storage, and related data analysis in the form of WEBAPI accessing httppost, so as to ensure the integrity of relevant test data. Local data is preferentially saved to reduce the risk of data information loss during real-time upload caused by network transmission packet loss and abnormal feedback received by the server.

[0066] As Figure 7 shown in the figure, the present invention uses "fixture number or panel mother code" as a medium to query and download relevant information in the background database of the cloud formulated by the network protocol formulated by the service layer, and parses the information in the form of class objects, parses the laser two-dimensional code values on each radar module product corresponding to each channel, and then binds and associates this laser two-dimensional code value with the information of each test item of the product, and encapsulates and transmits the information in the form of a JSON file package, so that the background can query and trace the test data based on the laser two-dimensional code information of the radar module product, thereby tracking the troubleshooting information of quality customer complaints.

[0067] The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, and these will not affect the implementation effect of the present invention and the practicality of the patent.

Claims

1. A method for implementing performance verification testing of an IoT radar module product, characterized in that, The method is as follows: Obtain the operating parameters of the radar module, calculate the intensity of the radar sensing signal according to the operating parameters of the radar module, and judge the performance of the radar module according to the intensity of the radar sensing signal and the operating parameters of the radar module.

2. The performance verification test method for an Internet of Things radar module product according to claim 1, characterized in that The method for judging the performance of the radar module according to the operating parameters of the radar module is as follows: The operating parameters of the radar module include the output voltage value between the test point ports. Obtain the initial voltage value after the radar module is activated, and set the voltage standard range according to the initial voltage value. When the output voltage value is less than or equal to the initial voltage value, it is judged that the performance of the radar module is abnormal. When the output voltage value is greater than the initial voltage value and the output voltage value is within the voltage standard range, it is judged that the performance of the radar module is normal. When the output voltage value is greater than the initial voltage value and the output voltage value is not within the voltage standard range, it is judged that the performance of the radar module is abnormal.

3. The performance verification test method for an Internet of Things radar module product according to claim 2, characterized in that The method for setting the voltage standard range according to the initial voltage value is as follows: Set the first-stage voltage threshold, the second-stage voltage threshold, and the third-stage voltage threshold. When the initial voltage value is greater than zero and less than or equal to the first-stage voltage threshold, set the minimum value of the voltage standard range to zero, and the maximum value of the voltage standard range to the first-stage voltage threshold. When the initial voltage value is greater than the first-stage voltage threshold and less than or equal to the second-stage voltage threshold, set the minimum value of the voltage standard range to the first-stage voltage threshold, and the maximum value of the voltage standard range to the second-stage voltage threshold. When the initial voltage value is greater than the second-stage voltage threshold and less than or equal to the third-stage voltage threshold, set the minimum value of the voltage standard range to the second-stage voltage threshold, and the maximum value of the voltage standard range to the third-stage voltage threshold.

4. A method for performing performance verification testing on an Internet of Things radar module product according to claim 2, characterized in that, The operating parameters of the radar module also include the band frequency. Determine the intensity of the echo signal according to the band frequency. When the intensity of the echo signal is greater than the preset signal threshold value, it is judged that the performance of the radar module is normal; when the intensity of the echo signal is less than or equal to the signal threshold value, it is judged that the performance of the radar module is abnormal.

5. A method for performing performance verification and testing of an IoT radar module product according to claim 1, characterized in that, The method for judging the performance of the radar module according to the radar sensing signal is as follows: When the radar sensing signal is received and the received power of the radar sensing signal is less than the preset received power reference value of the radar sensing signal, it is judged that the performance of the radar module is abnormal. When the radar sensing signal is received and the received power of the radar sensing signal is greater than or equal to the received power reference value of the radar sensing signal, the preset delay time starts to be timed. When the received power of the radar sensing signal is always greater than or equal to the received power reference value within the delay time, it is judged that the performance of the radar module is normal. When the received power of the radar sensing signal is less than the received power reference value of the radar sensing signal within the delay time, subtract the received power from the received power reference value to obtain the power difference. When the power difference is within the preset power difference standard range, it is judged that the performance of the radar module is normal; when the power difference is not within the preset power difference standard range, it is judged that the performance of the radar module is abnormal.

6. A method for performing performance verification testing on an Internet of Things radar module product according to claim 1, characterized in that, The operating parameters of the radar module include the system loss factor L, the distance R between the target and the radar, the radar cross section σ of the target, the radar wavelength λ, and the receiving antenna gain G r , the transmitting antenna gain G t , the received power Pr, and the transmitted power P t , through the system loss factor L, the distance R between the target and the radar, the radar cross section σ of the target, the radar wavelength λ, and the receiving antenna gain G r and the transmitting antenna gain G t , the transmitted power P t calculate the received power Pr of the radar sensing signal r .

7. A method for performing performance verification testing on an Internet of Things radar module product according to claim 6, characterized in that, Calculate the received power P of the radar sensing signal r The expression of which is Among them, L is the system loss factor, R is the distance of the target from the radar, σ is the radar cross section of the target, λ is the radar wavelength, G r is the receiving antenna gain, G t is the transmitting antenna gain, P r is the received power, P t is the transmitted power.

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