Aero.trajectory.creepingTrajectory

Generate reference signals for creeping line search trajectory

Since R2026a

Syntax

refSignals = Aero.trajectory.creepingTrajectory(Name=Value)

Description

refSignals = Aero.trajectory.creepingTrajectory(Name=Value) generates trajectory reference signals for a creeping line search pattern. Use name-value arguments to define the search pattern. For more information, see Algorithms.

example

Examples

collapse all

Generate Reference Signals for Creeping Trajectory

Open Live Script

This example shows how to generate reference signals for a creeping trajectory.

refCreepingTraj = Aero.trajectory.creepingTrajectory(InitialPosition = [0, 0], ...
Speed = 100,DatumPoint = [10, 10],FieldLength = 5000, ...
FieldWidth = 2000,TrackSpacing = 1000,Bearing = pi/4, ...
Altitude = 5000,OutputFormat = 'timetable',Mode = 'Independent')

refCreepingTraj=9×6 timetable
    09-Jan-2026 08:29:06    1              0              0    100       0         0
    09-Jan-2026 08:30:00    2    -1.7578e+03    -1.0507e+03    100    5000    3.6803
    09-Jan-2026 08:30:10    3    -1.0507e+03    -1.7578e+03    100    5000    5.4978
    09-Jan-2026 08:30:20    4      -343.5534    -1.0507e+03    100    5000    0.7854
    09-Jan-2026 08:30:30    5    -1.0507e+03      -343.5534    100    5000    2.3562
    09-Jan-2026 08:30:40    6      -343.5534       363.5534    100    5000    0.7854
    09-Jan-2026 08:30:50    7       363.5534      -343.5534    100    5000    5.4978
    09-Jan-2026 08:31:00    8     1.0707e+03       363.5534    100    5000    0.7854
    09-Jan-2026 08:31:10    9       363.5534     1.0707e+03    100    5000    2.3562

Add Reference Signals for Creeping Trajectory to Another Trajectory

Open Live Script

This example shows how to add reference signals for a creeping line trajectory, creepingSignals, to existing reference signals for another trajectory, sectorSignals.

Create reference signals for a sector trajectory.

sectorSignals = Aero.trajectory.sectorTrajectory(Altitude = 20, ...
Bearing = pi/2,DatumPoint = [-8,0], ...
InitialAltitude = 0,Radius = 5, ...
OutputFormat = 'timetable',InitialHeading = 0)

sectorSignals=9×6 timetable
    09-Jan-2026 09:12:44    1           0          0    90     0         0
    09-Jan-2026 09:12:44    2          -8          0    90    20    3.1416
    09-Jan-2026 09:12:44    3          -8          5    90    20    1.5708
    09-Jan-2026 09:12:44    4     -3.6699     2.5000    90    20    5.7596
    09-Jan-2026 09:12:44    5    -12.3301    -2.5000    90    20    3.6652
    09-Jan-2026 09:12:44    6    -12.3301     2.5000    90    20    1.5708
    09-Jan-2026 09:12:44    7     -3.6699    -2.5000    90    20    5.7596
    09-Jan-2026 09:12:44    8     -8.0000         -5    90    20    3.6652
    09-Jan-2026 09:12:44    9          -8          0    90    20    1.5708

Add reference signals for a creeping line trajectory, creepingSignals, to sectorSignals.

creepingSignals = Aero.trajectory.creepingTrajectory(PriorTrajectory = sectorSignals, ...
DatumPoint = [10, 10],FieldLength = 5000, ...
FieldWidth = 2000,TrackSpacing = 1000,Bearing = pi/4, ...
Altitude = 5000,Mode ='Independent')

creepingSignals=17×6 timetable
    09-Jan-2026 09:12:44     1              0              0    90       0         0
    09-Jan-2026 09:12:44     2             -8              0    90      20    3.1416
    09-Jan-2026 09:12:44     3             -8              5    90      20    1.5708
    09-Jan-2026 09:12:44     4        -3.6699         2.5000    90      20    5.7596
    09-Jan-2026 09:12:44     5       -12.3301        -2.5000    90      20    3.6652
    09-Jan-2026 09:12:44     6       -12.3301         2.5000    90      20    1.5708
    09-Jan-2026 09:12:44     7        -3.6699        -2.5000    90      20    5.7596
    09-Jan-2026 09:12:44     8        -8.0000             -5    90      20    3.6652
    09-Jan-2026 09:12:44     9             -8              0    90      20    1.5708
    09-Jan-2026 09:13:44    10    -1.7578e+03    -1.0507e+03    90    5000    3.6823
    09-Jan-2026 09:13:55    11    -1.0507e+03    -1.7578e+03    90    5000    5.4978
    09-Jan-2026 09:14:06    12      -343.5534    -1.0507e+03    90    5000    0.7854
    09-Jan-2026 09:14:18    13    -1.0507e+03      -343.5534    90    5000    2.3562
    09-Jan-2026 09:14:29    14      -343.5534       363.5534    90    5000    0.7854
      ⋮

Name-Value Arguments

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Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Example: InitialPosition = [0,0]

`InitialPosition` — Initial position
`[0,0]` (default) | 1-by-2 vector | 2-by-1 vector

Initial position of trajectory, specified as a 1-by-2 or 2-by-1 vector in the units specified in Units.

Example: InitialPosition = [0,0]

Data Types: double

`Speed` — Speed of trajectory
`10` (default) | finite real double scalar

Speed of trajectory, specified as a finite real double scalar in the units specified in Units.

Example: Speed = 10

Data Types: double

`Altitude` — Altitude of trajectory
`100` (default) | finite real scalar double

Altitude of the vehicle trajectory, specified as a finite real scalar double in the units specified in Units. This value is constant throughout the vehicle path.

Example: Altitude = 10

Data Types: double

`InitialHeading` — Initial heading of trajectory
`0` (default) | finite real double scalar between `0` and `2*pi`

Initial heading of trajectory, specified as a finite real double scalar between 0 and 2*pi, in radians. Specify one each of InitialHeading and FinalHeading.

Example: InitialHeading = pi

Data Types: double

`OutputFormat` — Output format
`timeseries` object (default) | `timetable` object

Output format of reference signals data, specified as timeseries or timetable.

Example: OutputFormat = timeseries

`Units` — Input and output units
`Metric (MKS)` (default) | `English (Velocity in ft/s)` | `English (Velocity in kts)`

Input and output units, specified as one of these values:

Units	Position	Altitude	Speed
`Metric (MKS)`	Meters	Meters	Meters per second
`English (Velocity in ft/s)`	Feet	Feet	Feet per second
`English (Velocity in kts)`	Nautical miles	Feet	Knots

Example: Units = 'Metric (MKS)'

Data Types: double

`StartTime` — Initial time of trajectory operation
`datetime('now')` (default) | `datetime` object

Initial time of trajectory operation, specified as a datetime object.

Example: StartTime=datetime('now')

`Bearing` — Bearing
0 (default) | finite real scalar double between `0` and `2*pi`

Bearing, specified as a finite real scalar double between 0 and 2*pi.

Example: Bearing = pi/4

Data Types: double

`Field center` — Field center
`[50 0]` (default) | 1-by-2 vector | 2-by-1 vector | finite real double

Field center, specified as a 1-by-2 or 2-by-1 vector of finite real doubles in the units specified in Units.

Data Types: double

`FieldLength` — Field length
10 (default) | scalar

Field length, specified as a scalar.

Example: FieldLength = 12

Data Types: double

`FieldWidth` — Field width
`5` (default) | positive scalar

Field width, specified as a positive scalar in the units specified in Units.

Example: FieldWidth = 12

Data Types: double

`InitialAltitude` — Initial altitude of trajectory
0 (default) | scalar

Initial altitude of trajectory, specified as a scalar in the units specified in Units.

Example: InitialAltitude = 10

Data Types: double

`Mode` — Vehicle coordination mode
`1-1 Coordination` (default) | `1-2 Coordination` | `1-3 Coordination`

Vehicle coordination mode, specified as Independent, 1-1 Coordination, 1-2 Coordination, or 1-3 v.

Example: Mode = '1-1 Coordination'

`PriorTrajectory` — Prior trajectory tracking data
`timeseries` object | `timetable` object

Prior trajectory tracking data, specified as a timeseries or timetable object. These objects must contain these fields:

Altitude
Heading
Speed
WaypointIndex
xNorth
yEast
LateralAcceleraion/Turnrate

`TrackSpacing` — Spacing between tracks
`1` (default) | scalar

Spacing between tracks, specified as a scalar.

Example: TrackSpacing = 10

Data Types: double

Output Arguments

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`refSignals` — Trajectory reference signals
`timeseries` `struct` | `timetable` object

Trajectory reference signals, returned as a timeseries struct or timetable object.

Algorithms

Use Aero.trajectory.creepingTrajectory to define these parameters of a creeping trajectory, where S is specified by TrackSpacing.

Version History

Introduced in R2026a

Aero.trajectory.creepingTrajectory

Syntax

Description

Examples

Generate Reference Signals for Creeping Trajectory

Add Reference Signals for Creeping Trajectory to Another Trajectory

Name-Value Arguments

`InitialPosition` — Initial position
`[0,0]` (default) | 1-by-2 vector | 2-by-1 vector

`Speed` — Speed of trajectory
`10` (default) | finite real double scalar

`Altitude` — Altitude of trajectory
`100` (default) | finite real scalar double

`InitialHeading` — Initial heading of trajectory
`0` (default) | finite real double scalar between `0` and `2*pi`

`OutputFormat` — Output format
`timeseries` object (default) | `timetable` object

`Units` — Input and output units
`Metric (MKS)` (default) | `English (Velocity in ft/s)` | `English (Velocity in kts)`

`StartTime` — Initial time of trajectory operation
`datetime('now')` (default) | `datetime` object

`Bearing` — Bearing
0 (default) | finite real scalar double between `0` and `2*pi`

`Field center` — Field center
`[50 0]` (default) | 1-by-2 vector | 2-by-1 vector | finite real double

`FieldLength` — Field length
10 (default) | scalar

`FieldWidth` — Field width
`5` (default) | positive scalar

`InitialAltitude` — Initial altitude of trajectory
0 (default) | scalar

`Mode` — Vehicle coordination mode
`1-1 Coordination` (default) | `1-2 Coordination` | `1-3 Coordination`

`PriorTrajectory` — Prior trajectory tracking data
`timeseries` object | `timetable` object

`TrackSpacing` — Spacing between tracks
`1` (default) | scalar

Output Arguments

`refSignals` — Trajectory reference signals
`timeseries` `struct` | `timetable` object

Algorithms

Version History

See Also

Live Editor Tasks

Functions

Aero.trajectory.creepingTrajectory

Syntax

Description

Examples

Generate Reference Signals for Creeping Trajectory

Add Reference Signals for Creeping Trajectory to Another Trajectory

Name-Value Arguments

InitialPosition — Initial position [0,0] (default) | 1-by-2 vector | 2-by-1 vector

Speed — Speed of trajectory 10 (default) | finite real double scalar

Altitude — Altitude of trajectory 100 (default) | finite real scalar double

InitialHeading — Initial heading of trajectory 0 (default) | finite real double scalar between 0 and 2*pi

OutputFormat — Output format timeseries object (default) | timetable object

Units — Input and output units Metric (MKS) (default) | English (Velocity in ft/s) | English (Velocity in kts)

StartTime — Initial time of trajectory operation datetime('now') (default) | datetime object

Bearing — Bearing 0 (default) | finite real scalar double between 0 and 2*pi

Field center — Field center [50 0] (default) | 1-by-2 vector | 2-by-1 vector | finite real double

FieldLength — Field length 10 (default) | scalar

FieldWidth — Field width 5 (default) | positive scalar

InitialAltitude — Initial altitude of trajectory 0 (default) | scalar

Mode — Vehicle coordination mode 1-1 Coordination (default) | 1-2 Coordination | 1-3 Coordination

PriorTrajectory — Prior trajectory tracking data timeseries object | timetable object

TrackSpacing — Spacing between tracks 1 (default) | scalar

Output Arguments

refSignals — Trajectory reference signals timeseries struct | timetable object

Algorithms

Version History

See Also

Live Editor Tasks

Functions

`InitialPosition` — Initial position
`[0,0]` (default) | 1-by-2 vector | 2-by-1 vector

`Speed` — Speed of trajectory
`10` (default) | finite real double scalar

`Altitude` — Altitude of trajectory
`100` (default) | finite real scalar double

`InitialHeading` — Initial heading of trajectory
`0` (default) | finite real double scalar between `0` and `2*pi`

`OutputFormat` — Output format
`timeseries` object (default) | `timetable` object

`Units` — Input and output units
`Metric (MKS)` (default) | `English (Velocity in ft/s)` | `English (Velocity in kts)`

`StartTime` — Initial time of trajectory operation
`datetime('now')` (default) | `datetime` object

`Bearing` — Bearing
0 (default) | finite real scalar double between `0` and `2*pi`

`Field center` — Field center
`[50 0]` (default) | 1-by-2 vector | 2-by-1 vector | finite real double

`FieldLength` — Field length
10 (default) | scalar

`FieldWidth` — Field width
`5` (default) | positive scalar

`InitialAltitude` — Initial altitude of trajectory
0 (default) | scalar

`Mode` — Vehicle coordination mode
`1-1 Coordination` (default) | `1-2 Coordination` | `1-3 Coordination`

`PriorTrajectory` — Prior trajectory tracking data
`timeseries` object | `timetable` object

`TrackSpacing` — Spacing between tracks
`1` (default) | scalar

`refSignals` — Trajectory reference signals
`timeseries` `struct` | `timetable` object