Aero.trajectory.creepingTrajectory

R2026b

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

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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 = 9×7 timetable
         timestamps         WaypointIndex    xNorth(m)    yEast(m)    Speed(m/s)    Altitude(m)    Heading(rad)    FlightPathAngle(rad)
    ____________________    _____________    _________    ________    __________    ___________    ____________    ____________________

    06-Jul-2026 10:38:37          1                 0           0        100              0           3.6803               0.01        
    06-Jul-2026 10:39:31          2           -1757.8     -1050.7        100           5000           5.4978               0.01        
    06-Jul-2026 10:39:41          3           -1050.7     -1757.8        100           5000           0.7854               0.01        
    06-Jul-2026 10:39:51          4           -343.55     -1050.7        100           5000           2.3562               0.01        
    06-Jul-2026 10:40:01          5           -1050.7     -343.55        100           5000           0.7854               0.01        
    06-Jul-2026 10:40:11          6           -343.55      363.55        100           5000           5.4978               0.01        
    06-Jul-2026 10:40:21          7            363.55     -343.55        100           5000           0.7854               0.01        
    06-Jul-2026 10:40:31          8            1070.7      363.55        100           5000           2.3562               0.01        
    06-Jul-2026 10:40:41          9            363.55      1070.7        100           5000           2.3562               0.01        

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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 = 9×7 timetable
         timestamps         WaypointIndex    xNorth(m)    yEast(m)    Speed(m/s)    Altitude(m)    Heading(rad)    FlightPathAngle(rad)
    ____________________    _____________    _________    ________    __________    ___________    ____________    ____________________

    06-Jul-2026 10:41:22          1                 0          0          90             0            3.1416             0.011111      
    06-Jul-2026 10:41:22          2                -8          0          90            20            1.5708             0.011111      
    06-Jul-2026 10:41:22          3                -8          5          90            20            5.7596             0.011111      
    06-Jul-2026 10:41:22          4           -3.6699        2.5          90            20            3.6652             0.011111      
    06-Jul-2026 10:41:22          5            -12.33       -2.5          90            20            1.5708             0.011111      
    06-Jul-2026 10:41:22          6            -12.33        2.5          90            20            5.7596             0.011111      
    06-Jul-2026 10:41:23          7           -3.6699       -2.5          90            20            3.6652             0.011111      
    06-Jul-2026 10:41:23          8                -8         -5          90            20            1.5708             0.011111      
    06-Jul-2026 10:41:23          9                -8          0          90            20            1.5708             0.011111      

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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 = 17×7 timetable
         timestamps         WaypointIndex    xNorth(m)    yEast(m)    Speed(m/s)    Altitude(m)    Heading(rad)    FlightPathAngle(rad)
    ____________________    _____________    _________    ________    __________    ___________    ____________    ____________________

    06-Jul-2026 10:41:22          1                 0           0         90              0           3.1416             0.011111      
    06-Jul-2026 10:41:22          2                -8           0         90             20           1.5708             0.011111      
    06-Jul-2026 10:41:22          3                -8           5         90             20           5.7596             0.011111      
    06-Jul-2026 10:41:22          4           -3.6699         2.5         90             20           3.6652             0.011111      
    06-Jul-2026 10:41:22          5            -12.33        -2.5         90             20           1.5708             0.011111      
    06-Jul-2026 10:41:22          6            -12.33         2.5         90             20           5.7596             0.011111      
    06-Jul-2026 10:41:23          7           -3.6699        -2.5         90             20           3.6652             0.011111      
    06-Jul-2026 10:41:23          8                -8          -5         90             20           1.5708             0.011111      
    06-Jul-2026 10:41:23          9                -8           0         90             20           3.6823             0.011111      
    06-Jul-2026 10:42:23         10           -1757.8     -1050.7         90           5000           5.4978             0.011111      
    06-Jul-2026 10:42:34         11           -1050.7     -1757.8         90           5000           0.7854             0.011111      
    06-Jul-2026 10:42:45         12           -343.55     -1050.7         90           5000           2.3562             0.011111      
    06-Jul-2026 10:42:56         13           -1050.7     -343.55         90           5000           0.7854             0.011111      
    06-Jul-2026 10:43:07         14           -343.55      363.55         90           5000           5.4978             0.011111      
    06-Jul-2026 10:43:18         15            363.55     -343.55         90           5000           0.7854             0.011111      
    06-Jul-2026 10:43:29         16            1070.7      363.55         90           5000           2.3562             0.011111      

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      ⋮

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
`90` (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
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 a timeseries or timetable object.

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)'

`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
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

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
scalar

Field length, specified as a scalar.

Example: FieldLength = 12

Data Types: double

`FieldWidth` — Field width
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
`Independent` | `1 to 1 coordination` | `1 to 2 coordination` | `1 to 3 coordination`

Vehicle coordination mode, specified as Independent, 1 to 1 coordination, 1 to 2 coordination, or 1 to 3 coordination.

Example: Mode = '1 to 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

`ClimbRate` — Vertical velocity component of vehicle during ascent
`1` (default) | finite real double scalar less than vehicle speed

Vertical velocity component of vehicle during ascent, specified as a finite real double scalar less than the vehicle speed in the units specified in Units.

Example: ClimbRate = 10

Data Types: double

`DescentRate` — Vertical speed at which vehicle loses altitude
`1` (default) | finite real double scalar

Vertical velocity component of vehicle during ascent, specified as a finite real double scalar less than the vehicle speed in the units specified in Units.

Example: DescentRate = 10

Data Types: double

`NFZBoundaryPoints` — Coordinates that define vertices of polygonal no-fly zone
`[ ]` (default) | N-by-2 numeric array

Coordinates that define vertices of polygonal no-fly zone, specified as a N-by-2 numeric array, where N is equal to or greater than 3. Each row of the array contains an [x, y] boundary point. The function computes a closed polygon from the supplied points and uses it to detect and avoid restricted airspace.

Example: DescentRate = 10

Data Types: double

`NFZAltitudeBound` — Maximum altitude of the no-fly zone
`0` (default) | scalar numeric

Maximum altitude of the no-fly zone, specified as a scalar numeric. You use this value with the NFZ boundary to determine whether obstacle avoidance is required. If the aircraft altitude is above the specified no-fly-zone altitude bound, the aircraft is permitted to pass through the NFZ without rerouting.

Example: DescentRate = 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

expand all

R2026b: No-Fly Zones and Flight Paths

To specify no-fly zones for trajectories, the Aero.trajectory.creepingTrajectory function accepts NFZBoundaryPoints and NFZAltitudeBound arguments. These arguments let you specify areas that vehicles must circumnavigate during trajectory planning.

To compute flight-path angles, the Aero.trajectory.creepingTrajectory function accepts ClimbRate and DescentRate. Outputs now also report flight paths.

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
`90` (default) | finite real double scalar

`Altitude` — Altitude of trajectory
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
finite real scalar double between 0 and 2*pi

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

`FieldLength` — Field length
scalar

`FieldWidth` — Field width
positive scalar

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

`Mode` — Vehicle coordination mode
`Independent` | `1 to 1 coordination` | `1 to 2 coordination` | `1 to 3 coordination`

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

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

`ClimbRate` — Vertical velocity component of vehicle during ascent
`1` (default) | finite real double scalar less than vehicle speed

`DescentRate` — Vertical speed at which vehicle loses altitude
`1` (default) | finite real double scalar

`NFZBoundaryPoints` — Coordinates that define vertices of polygonal no-fly zone
`[ ]` (default) | N-by-2 numeric array

`NFZAltitudeBound` — Maximum altitude of the no-fly zone
`0` (default) | scalar numeric

Output Arguments

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

Algorithms

Version History

R2026b: No-Fly Zones and Flight Paths

See Also

Live Editor Tasks

Functions

Topics

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 90 (default) | finite real double scalar

Altitude — Altitude of trajectory 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 finite real scalar double between 0 and 2*pi

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

FieldLength — Field length scalar

FieldWidth — Field width positive scalar

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

Mode — Vehicle coordination mode Independent | 1 to 1 coordination | 1 to 2 coordination | 1 to 3 coordination

PriorTrajectory — Prior trajectory tracking data timeseries object | timetable object

TrackSpacing — Spacing between tracks 1 (default) | scalar

ClimbRate — Vertical velocity component of vehicle during ascent 1 (default) | finite real double scalar less than vehicle speed

DescentRate — Vertical speed at which vehicle loses altitude 1 (default) | finite real double scalar

NFZBoundaryPoints — Coordinates that define vertices of polygonal no-fly zone [ ] (default) | N-by-2 numeric array

NFZAltitudeBound — Maximum altitude of the no-fly zone 0 (default) | scalar numeric

Output Arguments

refSignals — Trajectory reference signals timeseries struct | timetable object

Algorithms

Version History

R2026b: No-Fly Zones and Flight Paths

See Also

Live Editor Tasks

Functions

Topics

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

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

`Altitude` — Altitude of trajectory
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
finite real scalar double between 0 and 2*pi

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

`FieldLength` — Field length
scalar

`FieldWidth` — Field width
positive scalar

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

`Mode` — Vehicle coordination mode
`Independent` | `1 to 1 coordination` | `1 to 2 coordination` | `1 to 3 coordination`

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

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

`ClimbRate` — Vertical velocity component of vehicle during ascent
`1` (default) | finite real double scalar less than vehicle speed

`DescentRate` — Vertical speed at which vehicle loses altitude
`1` (default) | finite real double scalar

`NFZBoundaryPoints` — Coordinates that define vertices of polygonal no-fly zone
`[ ]` (default) | N-by-2 numeric array

`NFZAltitudeBound` — Maximum altitude of the no-fly zone
`0` (default) | scalar numeric

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