UAV-R21-1（CAN）
Obstacle Avoidance Drone Radar
User Manual
（Compatible with Open Source
Flight Controller）
Microbrain Intelligent Technology Co., Ltd.
Disclaimer
Welcome to purchase this product.
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https://www.microbrain.com.cn
Please read this statement carefully before using this product. Once used, it is
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Please strictly follow the manual to install and use this product. If there is
damage or injury caused by improper use, Microbrain Intelligent Technology
Co., Ltd. will not be responsible for the corresponding losses and
compensation.
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Reproduction in any form is prohibited without permission. Use of this product
and manual will not incur patent liability.
Historic Version
Date Version Updates
UAV-H21-1 compatible with open source
2024.05.13 1.0
flight controller User Manual Version 1
Content
1. UAV-R21-1 Introduction ......................................................................1
2. Product Feature ....................................................................................1
3. Product Parameters .............................................................................2
4. Product Photo ....................................................................................... 3
5. Installation ............................................................................................. 3
6. Quick Guidance .................................................................................... 4
7. Use Cautions ........................................................................................ 6
8. FAQ .........................................................................................................6
1. UAV-R21-1 Introduction
UAV-R21-1 Obstacle Avoidance 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.
Microbrain Intelligent UAV-R21-1 middle distance radar has performance as
below:
1.1 Antenna applies 2 send 4 receive MIMO array. Angle scope area to 30
degree with high resolution and precision.
1.2 Working frequency 77GHz~81GHz. Sensitive for motion and precise for
distance detection.
1.3 Effective detection distance to 27m.
1.4 Support CAN port. Default 500k baud rate.
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
Model：UAV-R21-1
Dimensions：76*71.5*19.6mm
1
Weight：87g（Including cables）
Protection：IP67
Figure 1 UAV-R21-1 Dimensions
3. Product Parameters
Name Parameter Data
Azimuth Width ±15°
Antenna
Elevation Width -5°~ +3°
Performance
Max EIRP(dBm) 30
Detect Range (m) 1.5~27
Radar
Detect Accuracy (m) ±0.1
Detection
Distance Resolution(m) 0.12
Frequency Band (GHz) 79
Radar
Refresh Rate (Hz) 20
Performance
Bandwidth (GHz) 1.4
Working Voltage (V) 5-24
Working Temperature -40℃~85℃
Power Consumption(W) 3W
System
Waterproof Level IP67
Connect Port CAN
PCB Size (mm) 55*52*1.6
2
4. Product Photo
Figure 2 UAV-R21-1 Product Photo
5. Installation
Installation steps for UAV-R21-1 radar:
5.1 Install place: There shouldn’t have any obstacles in the area of beam
azimuth width ±15° or elevation width -5°~ +3°.
5.2 Install 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.
5.3 Install 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:
3
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.
Figure 3 Radar Installation Figure
6. Quick Guidance
Pin definition
4
Pin Cable Mark Cable Definition
1 VCC (Red) Power Positive
2 GND (Black) Power Negative
3 TX_CAN_H (Green) CAN_H
4 RX_CAN_L (White) CAN_L
Table 1 UAV-R21-1 Pin Interface Definition
Data Analysis
UAV-R21-1 radar supports CAN interface. The CAN-Bus Communication
network complies with ISO11898-2 standard, and the default transmission rate
is 500Kbps. Target measurement information is transmitted via the CAN
interface. The message ID uses a 29-bit extended frame. The default ID of the
UAV-R21-1 radar is: 0x73C for front obstacle avoidance and 0x74C for rear
obstacle avoidance. The data length is 6 bytes and 48 bits. UAV-R21-1 bus
message definitions are as follows:
Table 2 UAV-R21-1Radar Frame Information Definition
Data
Frame
CAN MIRS-H3 Radar ID Length Data Format Target
Format
（bit）
0-7: high 8 bits
Target1
8-15 :lower 8 bits
CAN2.0A 16-23: high 8 bits
1 0x73C OR 0x74C 48 Target2
(29bit) 24-31 : lower 8 bits
32-39:high 8 bits
Target3
40-48 :lower 8 bits
5
7. Use Cautions
Radar needs carefully anti-static protection during transportation, storage,
working and taking. If the radar continuously outputs irregular targets while
there isn’t any target in radar detection areas, or when the radar can’t get
any output signal while the power voltage or current data is under normal
condition, then the radar may be damaged.
Keep the radar cover clean during installation. Use soft wet cloth for radar
cover wiping and dry it naturally by ventilating.
Please pay attention to the shape of the radar when installing, ensure that
the installed radar is not deformed, and do not squeeze, bump, or hit;
When installing, make sure the radar is complete and do not disassemble
or assemble it by yourself.
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 radar sensor be inclined 12°upward for installation.
3> Q: Will the radar have data output if it hasn’t detected any obstacles?
6
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://www.microbrain.com.cn/en
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]
