https://github.com/radarsimx/radarsimpy
Radar Simulator built with Python and C++
https://github.com/radarsimx/radarsimpy
cuda radar raytracing simulation
Last synced: 3 months ago
JSON representation
Radar Simulator built with Python and C++
- Host: GitHub
- URL: https://github.com/radarsimx/radarsimpy
- Owner: radarsimx
- License: gpl-3.0
- Created: 2020-07-27T16:48:19.000Z (almost 6 years ago)
- Default Branch: master
- Last Pushed: 2026-03-08T22:23:05.000Z (4 months ago)
- Last Synced: 2026-03-09T02:22:21.571Z (4 months ago)
- Topics: cuda, radar, raytracing, simulation
- Language: Python
- Homepage: https://radarsimx.github.io/radarsimpy/
- Size: 67.2 MB
- Stars: 503
- Watchers: 23
- Forks: 100
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- License: LICENSE
Awesome Lists containing this project
- awesome-radar-perception - Code
README
# RadarSimPy
A **Radar** **Sim**ulator for **Py**thon
RadarSimPy is a powerful and versatile Python-based Radar Simulator that models radar transceivers and simulates baseband data from point targets and 3D models. Its signal processing tools offer range/Doppler processing, direction of arrival estimation, and beamforming using various cutting-edge techniques, and you can even characterize radar detection using Swerling’s models. Whether you’re a beginner or an advanced user, RadarSimPy is the perfect tool for anyone looking to develop new radar technologies or expand their knowledge of radar systems.
---
## Key Features
- :satellite: **Radar Modeling**
- Transceiver modeling
- Arbitrary waveform (CW, FMCW, PMCW, Pulse, ...)
- Phase noise
- Phase/amplitude modulation (CDM, FDM, DDM, TDM, ...)
- Fast-time/slow-time modulation
- :video_game: **Simulation**
- Baseband data from point targets & 3D models
- Interference simulation
- Target RCS simulation
- LiDAR point cloud simulation
- :signal_strength: **Signal Processing**
- Range/Doppler processing
- DoA estimation (MUSIC, Root-MUSIC, ESPRIT, IAA)
- Beamforming (Capon, Bartlett)
- CFAR (CA-CFAR, OS-CFAR)
- :chart_with_upwards_trend: **Characterization**
- Radar detection characteristics (Swerling’s models)
---
## Dependencies
- Python >= 3.10
- NumPy >= 2.0
- SciPy
- PyMeshLab, PyVista, trimesh, or meshio
```bash
pip install -r requirements.txt
```
**Platform-specific requirements:**
- **Windows**
- [Visual C++ Runtime](https://aka.ms/vs/16/release/vc_redist.x64.exe/)
- GPU version (CUDA13) – see [Minimum Required Driver Versions](https://docs.nvidia.com/deploy/cuda-compatibility/#id1)
- **Ubuntu 22.04**
- GCC 11 (default)
- GPU version (CUDA13) – see [Minimum Required Driver Versions](https://docs.nvidia.com/deploy/cuda-compatibility/#id1)
- **Ubuntu 24.04**
- GCC 13 (default)
- GPU version (CUDA13) – see [Minimum Required Driver Versions](https://docs.nvidia.com/deploy/cuda-compatibility/#id1)
- **Generic Linux x86-64**
- Try Ubuntu 22.04/24.04 module, or [request a custom build](https://radarsimx.com/request-a-custom-build/)
- **MacOS**
- Intel: GCC 14 (`brew install gcc@14`)
- Apple Silicon: use default Clang (no extra dependency)
---
## Installation
Download the [pre-built module](https://radarsimx.com/product/radarsimpy/) and place the `radarsimpy` folder in your project directory:
```text
your_project.py
your_project.ipynb
radarsimpy/
├── __init__.py
├── [platform-specific binaries]
├── radar.py
├── processing.py
└── ...
```
**Platform-specific binaries:**
- **Windows:** `radarsimcpp.dll`, `simulator.xxx.pyd`
- **Linux:** `libradarsimcpp.so`, `simulator.xxx.so`
- **MacOS:** `libradarsimcpp.dylib`, `simulator.xxx.so`
---
## Acceleration
This module supports CPU/GPU parallelization:
- **CPU:** via OpenMP
- **GPU:** via CUDA (since v6.0.0)
| | CPU (x86-64) | CPU (ARM64) | GPU (CUDA) |
| ------- | ------------ | ----------- | ---------- |
| Windows | ✔️ | ❌️ | ✔️ |
| Linux | ✔️ | ❌️ | ✔️ |
| MacOS | ✔️ | ✔️ | ❌️ |
---
## Coordinate Systems
### Global Coordinate
- **axis** (m): `[x, y, z]`
- **phi** (deg): angle on the x-y plane. 0 deg is the positive x-axis, 90 deg is the positive y-axis
- **theta** (deg): angle on the z-x plane. 0 deg is the positive z-axis, 90 deg is the x-y plane
### Local Coordinate
- **yaw** (deg): rotation along the z-axis. Positive yaw rotates the object from the positive x-axis to the positive y-axis
- **pitch** (deg): rotation along the y-axis. Positive pitch rotates the object from the positive x-axis to the positive z-axis
- **roll** (deg): rotation along the x-axis. Positive roll rotates the object from the positive y-axis to the positive z-axis
- **origin** (m): `[x, y, z]`, the motion (rotation and translation) centor of the object. Radar's origin is always at `[0, 0, 0]`
- **azimuth** (deg): azimuth -90 ~ 90 deg equal to phi -90 ~ 90 deg
- **elevation** (deg): elevation -90 ~ 90 deg equal to theta 180 ~ 0 deg
---
## Usage Examples
Find more usage examples at [radarsimx.com](https://radarsimx.com/category/examples/). Source files are available in the [radarsimnb repository](https://github.com/radarsimx/radarsimnb).
- ### **Radar Systems & Waveforms**
- [FMCW radar](https://radarsimx.com/2018/10/11/fmcw-radar/)
- [Pulsed Radar](https://radarsimx.com/2024/09/13/pulsed-radar/)
- [Doppler radar](https://radarsimx.com/2019/05/16/doppler-radar/)
- [PMCW radar](https://radarsimx.com/2019/05/24/pmcw-radar/)
- [Interferometric Radar](https://radarsimx.com/2023/08/31/interferometric-radar/)
- [Arbitrary waveform](https://radarsimx.com/2021/05/10/arbitrary-waveform/)
- ### **MIMO & Multi-Channel Systems**
- [TDM MIMO FMCW radar](https://radarsimx.com/2019/04/07/tdm-mimo-fmcw-radar/)
- [Imaging radar](https://radarsimx.com/2022/12/02/imaging-radar/)
- [DoA estimation](https://radarsimx.com/2022/12/12/doa-estimation/)
- ### **3D Scene Simulation & Ray Tracing**
- [FMCW radar with a car](https://radarsimx.com/2021/05/10/fmcw-radar-with-a-car/)
- [FMCW radar with a plate](https://radarsimx.com/2021/05/10/fmcw-radar-with-a-plate/)
- [FMCW radar with a corner reflector](https://radarsimx.com/2021/05/10/fmcw-radar-with-a-corner-reflector/)
- [Multi-path effect](https://radarsimx.com/2021/05/10/multi-path-effect/)
- [Micro-Doppler](https://radarsimx.com/2021/05/10/micro-doppler/)
- [Doppler of a turbine](https://radarsimx.com/2021/05/10/doppler-of-a-turbine/)
- ### **Radar Cross Section (RCS) Analysis**
- [Cross-Polarization and Co-Polarization RCS](https://radarsimx.com/2024/04/19/cross-polarization-and-co-polarization-rcs/)
- [Car RCS](https://radarsimx.com/2021/05/10/car-rcs/)
- [Plate RCS](https://radarsimx.com/2021/05/10/plate-rcs/)
- [Corner reflector RCS](https://radarsimx.com/2021/05/10/corner-reflector-rcs/)
- ### **Signal Processing & Detection**
- [CFAR](https://radarsimx.com/2021/01/10/cfar/)
- [CFAR with corner reflector](https://radarsimx.com/2021/05/10/fmcw-radar-with-a-corner-reflector/)
- ### **System Performance & Characterization**
- [FMCW Radar Link Budget - Ideal Point Target](https://radarsimx.com/2024/10/11/fmcw-radar-link-budget-ideal-point-target/)
- [Phase noise](https://radarsimx.com/2021/01/13/phase-noise/)
- [Receiver operating characteristic (ROC)](https://radarsimx.com/2019/10/06/receiver-operating-characteristic/)
- [Interference](https://radarsimx.com/2023/01/13/interference/)
- ### **LiDAR Simulation**
- [LIDAR point cloud](https://radarsimx.com/2020/02/05/lidar-point-cloud/)
---
## Build
Check [Build Instructions](./build_instructions.md)
---
## API Reference
See the [Documentation](https://radarsimx.github.io/radarsimpy/)
---
## Contributing
Contributions, issues, and feature requests are welcome! Please open an issue or submit a pull request on GitHub.
---
## License
This project is licensed under the terms of the [LICENSE](LICENSE) file.