UAV-R22-1 (UART) Single target

UAV obstacle avoidance radar

sensor user manual

Microbrain Intelligent Technology Co., Ltd.

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Reproduction in any form is prohibited without permission. Use of this product
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 Historic version
Date Version Version description
2023.12.27 1.0 UAV-R22-1 Open source flight
controller application
 Catalog
1.UAV-R22-1 Introduction .................................................................... 2

2.Product Feature ................................................................................. 2

3.Product Parameters ...........................................................................3

4.Product Picture ...................................................................................4

5.Installation ...........................................................................................4

6.Quickly Guidance ...............................................................................6

4. 8.FAQ ............................................................................................... 12

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1.UAV-R22-1 Introduction

UAV-R22-1 (UART) Obstacle Avoidance Sensor Radar is a tiny & light

millimeter wave obstacle avoidance radar sensor, which is self-designed and
manufactured by MicroBrain Intelligent. It has advantages of high precision,
small body, high sensitive, light weight, easy for integration and stable
performance. This product can distinguish whether there’s obstacle ahead or
not by forward sending fan-shaped 79GHz electromagnetic wave and dealing
with the returned signals. It will send back the relative distance, speed and
angle data between obstacles and radar to make the drone keep away from
obstacles and ensure its safe working.
UAV-R22-1(UART)Medium distance radar has performance as below:

1.1.2T4R MIMO array antenna design,±15°azimuth FOV,High angular

resolution and angular detection accuracy；

1.2.Working frequency 77GHz~81GHz，sensitive for motion and precise for

distance detection.

1.3.Effective detection distance 27m；

1.4.Support UART protocol output，Default baud rate115200；

1.5.Apply DSP + ARM dual core structure for signal process and control unit.

Execute radar data process, target detection and tracking arithmetic on

inside high speed digital signal processor.

2.Product Feature

Type：Obstacle Avoidance Radar

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Model：UAV-R22-1

Dimensions：76*71.5*19.6mm

Weight：87g（Including cables）

Protection：IP67

Figure 1 UAV-R21-1 Dimensions

3.Product Parameters

Item Parameters Data

Azimuth ±15°

Elevation -5°~+3°
Antenna performance
EIRP(dBm) 30

Distance detection
1.5~27
range(m)

Distance detection
Radar performance 0.02
accuracy(m)

Distance detection
0.18
resolution(m)

Radar Performance Frequency(GHz) 79

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 Refresh rate(Hz) 20

Bandwidth(GHz) 1.4

Working voltage(V) 5-24

Working Temperature -40℃~85℃

Power consumption(W) 3W
System property
Protection rating IP67

Communication Interface UART

PCB size (mm) 55*52*1.6

4.Product Picture

Figure 2 UAV-R22-1 Product Photo

5.Installation

UAV-R22-1 Radar Installation Step：

5.1 Installation location:There shouldn’t have any obstacles in the area of

beam azimuth width ±15° or elevation width -5°~ +3°.
5.2 Installation direction: The antenna is on the back of radar where there’s an
arrow. While installing, the direction of arrow on radar’s back should be upward,
cables of radar be right towards, and the front side of radar towards the flying
direction of drone.

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5.3 Installation angle: While installing, the antenna side (radar front side)
points to the front direction of drone. The radar installed inclined upwards
according to the largest inclination angle during drone flying. The best install
angle is relative to the biggest flying incline angle and flying height. Ordinary
speaking, 12°incline angle is recommended.

Assume the drone flying incline angle as  , drone working height as H,

max alarm distance as R max , then it comes:

H
 Rmax
sin   3

And then:

 H 
  arcsin  3
 Rmax 

 H 
0 = arcsin  3
Rmax 
If make  , then  0 is the largest drone incline angle that the

radar install can accept; If the drone incline angle is bigger than 0 , then it
needs amendment, which will need the radar be installed upward inclined. The

 comp  - comp   0
installation angle is and make , Then the installation angle
should be:

 comp   - 0

Furthermore, the more stable of platform, the smaller fluctuation will radar
beam has. And the smaller install angle, the more stable detection the radar
will have for front obstacles.

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 Figure3 Radar installation

6.Quickly Guidance

 Pin Definition
UAV-R22-1 The interface pin definition of the sensor, as shown in the table
1：

PIN Definition Range

1 POWER_IN（Red） 5~24V DC
2 GND（Black） -
3 TX（Green） 0~3.3V
4 RX（White） 0~3.3V

Table 1：UAV-R22-1 Pin interface definition

 Testing using

Superior machine testing software provided by Microbrain Intelligent can obtain and

analyze UAV-R22-1 obstacle avoidance sensor data, and intuitively display the

observation results. Use this tool to help the use of UAV-R22-1 obstacle avoidance radar

distance detection

Use the UART protocol test method as follows：

First obtain UAV-R22-1 upper computer test software from Microbrain Intelligent

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customer service or website.Please install and configure the upper computer testing

software according to the manual.

Table 3 Testing tools

No. Device Number

1 UAV-R22-1 radar sensor 1

2 PC 1

3 TTL-USB 1

4 5~24V power adapter 1

Upper computer test

5 1
software

1） Through TTL-USB module，Connect PC with UAV-R22-1 radar sensor，picture as

follow ：

Figure 4 Serial port line connection

Connect with PC and radar sensor, open upper computer test software, Click to

start ,the test result as shown in the figure follow

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 Serial data analysis
UAV-R22-1 obstacle avoidance sensor outputs the Y coordinate of the
recent obstacle.as shown in the figure below,obstacle 1is not within the

range of radar beams, can not detected by radar.Among the obstacle 2、3

and 4，the distance between obstacle 2 is the closest to Y2, The final output

value of radar is Y2

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 Serial port baud rate 115200，Support 3.3V electric level，Data refresh rate

20Hz，Data unit（cm），Send specified data packet format according to

customer needs，Each frame of data packet is executed according to the

customer's protocol。UAV-R22-1 data as follow.

UAV-R22-1 77GHz mmWave radar is UART output, 115200bps, 8N1.

Output Frequency 20Hz. Specific protocol format is as follows：
Header Byte D1 D2 D3 D4 D5 D6 D7 D8 D9 CRC

Byte Parameter Unit Explanation Remark

Description
Byte 0 Header uint8_t Fixed‘T’, that is 0x54
Byte 1
Byte 1 Header uint8_t Fixed‘H’, that is
Byte 2 0x48
Byte D1 uin16_t cm 0 degree sector
2~3 obstacle distance
Byte4~5 D2 uin16_t cm 45 degree sector
obstacle distance
Byte D3 uin16_t cm 90 degree sector
6~7 obstacle distance
Byte D4 uin16_t cm 135 degree sector

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 8~9 obstacle distance
Byte10~ D5 uin16_t cm 180 degree sector
11 obstacle distance
Byte D6 uin16_t cm 225 degree sector
12~13 obstacle distance
Byte D7 uin16_t cm 270 degree sector
14~15 obstacle distance
Byte D8 uin16_t cm 315 degree sector
16~17 obstacle distance
Byte 18 D9 Uint8_t Fixed, ‘M’ ascii is
decimal 77 (0x4D)
Byte 19 CRC Uin8_t CRC8 check See
descripti
on below

Obstacle Distance Unit: millimeter. The high 8 bits are in front, the low 8 bits are in the
back. for example, 0 degree sector obstacle distance 0x07D0.

Byte 2=0x07, byte 3=0xD0, then the actual distance is 2m.

Note: It must be sent regardless of whether there is radar data or not. When
the data is invalid, DX is filled with 0XFFFF. UAV-R22-1 77GHz MMwave radar
obstacle avoidance system outputs D1, D2, D3, D4...D8 sector obstacle
distances, and other sectors are invalid data. Fill with 0xFFFF.

Radar output CRC8 check

Crc.cpp：
static const uint8_t crc8_table[] = {
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0x00, 0x07, 0x0e, 0x09, 0x1c, 0x1b, 0x12, 0x15, 0x38, 0x3f, 0x36, 0x31, 0x24,
0x23, 0x2a, 0x2d, 0x70, 0x77, 0x7e, 0x79, 0x6c, 0x6b, 0x62, 0x65, 0x48, 0x4f,
0x46, 0x41, 0x54, 0x53, 0x5a, 0x5d, 0xe0, 0xe7, 0xee, 0xe9, 0xfc, 0xfb, 0xf2,
0xf5, 0xd8, 0xdf, 0xd6, 0xd1, 0xc4, 0xc3, 0xca, 0xcd, 0x90, 0x97, 0x9e, 0x99,
0x8c, 0x8b, 0x82, 0x85, 0xa8, 0xaf, 0xa6, 0xa1, 0xb4, 0xb3, 0xba, 0xbd, 0xc7,
0xc0, 0xc9, 0xce, 0xdb, 0xdc, 0xd5, 0xd2, 0xff, 0xf8, 0xf1, 0xf6, 0xe3, 0xe4,
0xed, 0xea, 0xb7, 0xb0, 0xb9, 0xbe, 0xab, 0xac, 0xa5, 0xa2, 0x8f, 0x88, 0x81,
0x86, 0x93, 0x94, 0x9d, 0x9a, 0x27, 0x20, 0x29, 0x2e, 0x3b, 0x3c, 0x35, 0x32,
0x1f, 0x18, 0x11, 0x16, 0x03, 0x04, 0x0d, 0x0a, 0x57, 0x50, 0x59, 0x5e, 0x4b,
0x4c, 0x45, 0x42, 0x6f, 0x68, 0x61, 0x66, 0x73, 0x74, 0x7d, 0x7a, 0x89, 0x8e,
0x87, 0x80, 0x95, 0x92, 0x9b, 0x9c, 0xb1, 0xb6, 0xbf, 0xb8, 0xad, 0xaa, 0xa3,
0xa4, 0xf9, 0xfe, 0xf7, 0xf0, 0xe5, 0xe2, 0xeb, 0xec, 0xc1, 0xc6, 0xcf, 0xc8,
0xdd, 0xda, 0xd3, 0xd4, 0x69, 0x6e, 0x67, 0x60, 0x75, 0x72, 0x7b, 0x7c, 0x51,
0x56, 0x5f, 0x58, 0x4d, 0x4a, 0x43, 0x44, 0x19, 0x1e, 0x17, 0x10, 0x05, 0x02,
0x0b, 0x0c, 0x21, 0x26, 0x2f, 0x28, 0x3d, 0x3a, 0x33, 0x34, 0x4e, 0x49, 0x40,
0x47, 0x52, 0x55, 0x5c, 0x5b, 0x76, 0x71, 0x78, 0x7f, 0x6a, 0x6d, 0x64, 0x63,
0x3e, 0x39, 0x30, 0x37, 0x22, 0x25, 0x2c, 0x2b, 0x06, 0x01, 0x08, 0x0f, 0x1a,
0x1d, 0x14, 0x13, 0xae, 0xa9, 0xa0, 0xa7, 0xb2, 0xb5, 0xbc, 0xbb, 0x96, 0x91,
0x98, 0x9f, 0x8a, 0x8d, 0x84, 0x83, 0xde, 0xd9, 0xd0, 0xd7, 0xc2, 0xc5, 0xcc,
0xcb, 0xe6, 0xe1, 0xe8, 0xef, 0xfa, 0xfd, 0xf4, 0xf3
};
uint8_t crc_crc8(const uint8_t *p, uint8_t len)
{
uint16_t i; uint16_t crc = 0x0;
while (len--)
{
i = (crc ^ *p++) & 0xFF; crc = (crc8_table[i] ^ (crc << 8)) & 0xFF;
}
return crc & 0xFF;
}
Debugging way：crc8 = crc_crc8(buffer, 1)；//buffer is the data receiving
buffer array

7.Precautions of product use

 Radar needs to be fully protected against static electricity during
transportation, storage, operation and handling.If there is no target object
within the radar detection coverage,The radar continues to output irregular
targets or when DC parameter values such as power supply voltage and
source current are within the normal range.the output signal cannot be
obtained,then the radar maybe damaged
 Please keep the radar cover clean during installation. To clean the cover,
wipe it with a soft damp cloth and then let it dry naturally
 When installing, please pay attention to the shape of the radar and ensure

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 that the installed radar is not deformed. Do not squeeze, bump, or beat it.
 When installing, make sure the radar is the factory original. Do not
disassemble or assemble by yourself.

4. 8.FAQ

1> Q: What is the detect range of UAV-R21-1? Why the minimum detect
distance is 1.5m?

A: The drone obstacle detection range is 1.5~27m. Considering about the

drone wing length, it needs to stop while the distance between drone and
obstacle is less than 1.5m. So the minimum detection distance is 1.5m.

2> Q: Don’t know how to calculate the best install angle, is there a
recommended angle?

A: According to the installation angle recommendation and the test result,

we suggest flight controller be inclined 12°upward for installation.

3> Q: Will the radar have data output if it hasn’t detected any obstacles?

A: Radar outputs data in real time. While radar hasn’t detected any
obstacle or the obstacle distance longer than 27m, it outputs data 0; While
radar detected obstacle successfully, it outputs the actual distance of obstacle.

Please contact service manager freely if need any help during installation.

MicroBrain will always be here for your service!

Microbrain Intelligent Technology Co.,Ltd

https://en.microbrain.com.cn
Address: 3rd Floor, Building A, Chentai Science and Technology Park, No. 56 Wanglong Road, Yuelu
District, Changsha City, Hunan Province
Phone: +86-731-89909918
Email: [email protected]

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