A Radar Simulator for Python

There are 7 modules in this package:

  1. Radar: Defines radar parameters

  2. simulator: Simulates and generates raw time domain baseband data

  3. processing: Basic radar signal processing

  4. tools: Receiver operating characteristic analysis

  5. lidar_scene: Simulates LiDAR’s point cloud based on a 3D environment model with ray tracing

  6. rcs: Simulates target’s radar cross section (RCS) based on the 3D model with ray tracing

  7. scene: Simulates radar’s response signal in a 3D enviroment model with ray tracing


  • numpy
  • scipy
  • numpy-stl


Contact me if you are interested in this module.

To use the module, please put the radarsimpy folder within your project folder as shown below.


  • your_project.py
  • your_project.ipynb
  • radarsimpy
    • __init__.py
    • radarsimc.dll
    • scene.xxx.pyd


  • your_project.py
  • your_project.ipynb
  • radarsimpy
    • __init__.py
    • libradarsimc.so
    • scene.xxx.so

Coordinate Systems

Scene Coordinate

  • axis (m): [x, y, z]
  • phi (deg): angle on x-y plane. Positive x-axis is 0 deg, positive y-axis is 90 deg
  • theta (deg): angle on z-x plane. Positive z-axis is 0 deg, x-y plane is 90 deg
  • azimuth (deg): azimuth -90 ~ 90 deg equal to phi -90 ~ 90 deg
  • elevation (deg): elevation -90 ~ 90 deg equal to theta 180 ~ 0 deg

Object’s Local Coordinate

  • axis (m): [x, y, z]
  • yaw (deg): rotation along z-axis. Positive yaw rotates object from positive x-axis to positive y-axis
  • pitch (deg): rotation along y-axis. Positive pitch rotates object from positive x-axis to positive z-axis
  • roll (deg): rotation along x-axis. Positive roll rotates object from positive z-axis to negative y-axis
  • origin (m): [x, y, z]
  • rotation (deg): [yaw, pitch, roll]
  • rotation (deg/s): rate [yaw rate, pitch rate, roll rate]



Shawn Sun · August 20, 2019 at 3:39 am

Dear Dr. Peng ,

Excellent work on radar sensing. Your papers and blogs are helpful for our working on 77 GHz scanning radar. We also carried out radar simulation with Matlab. It would be appreciate if you can share this python module or provide some suggestions.



Gh Wu · October 30, 2019 at 9:17 am

Dear Dr. Peng ,
Hi !
I have tried you codes about Antenna Array Analysis ,and it really help me a lot!!!
I want to do some simulation about CS imaging with Sparse MIMO radar, but I don’t like Matlab’s phased array toolbox.
Could you share some moudle about your Radar simulation system?
May I join your project in github?



Gh Wu · October 30, 2019 at 9:19 am

May I become a contributor of this project?

Lin Wan · January 17, 2020 at 10:50 am

Dear Dr. Peng ,

Nice demo shown in the Jupyter notebooks!
We are now carrying out radar simulation with Matlab. Is is possible that you can share this python module?

Best regards,


    Zhengyu Peng · January 18, 2020 at 10:43 pm

    Hi Lin,
    I just shared it with you through Google Drive.


Chen Ruihai · February 3, 2020 at 10:36 am

Dear Dr.Peng ,
Really Excellent work the demo you put on the github!
I’m now working on radar simulation with AI based on Matlab.Is it possible that you can share the python module?I really appreciate it.

Best wishs,


    Zhengyu Peng · February 4, 2020 at 9:32 am

    I just shared it through Google Drive.

xiaobao · February 17, 2020 at 11:35 pm

Dear Dr.Peng ,
I have tried Antenna Array Analysis, but it report an error “ModuleNotFoundError: No module named ‘antarray'”, how to solve it?

Best wishs,

kostas oskar · June 19, 2020 at 2:35 am

Dear Dr. Peng,

I have read your articles and are great!!! I am interested to use your RadarSimPy tool for my radar related thesis. Could you share it with me?


Jingyi Wang · September 18, 2020 at 8:45 am

Dear Dr. Peng,

Really excellent work! I have a question regarding your propagation model. The beam would transmit through an object as it propagates. Have you considered this scenario? And if possible, how will you build this propagation model?

    Zhengyu Peng · September 18, 2020 at 12:42 pm

    Currently, I only consider the perfect reflections. No scattering or penetration.

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