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飞机位置雷达模型

打开模型

此模型显示为包含 MATLAB® 脚本的 Simulink® 模型生成的代码。

该模型包含一个扩展卡尔曼滤波器，用于根据雷达测量值估计飞机位置。MATLAB 脚本 AircraftPositionData.m 包含用于运行模型的数据。估计位置和实际位置将保存到工作区，并在仿真结束时由程序 AircraftPositionPlot.m（自动从仿真中调用）进行绘图。

查看和仿真模型

查看模型并执行仿真。

打开 Simulink 模型。

model='AircraftPositionRadar';
open_system(model)
AircraftPositionRadar([],[],[],'compile');
AircraftPositionRadar([],[],[],'term');

在 MATLAB 编辑器中打开 MATLAB Function 模块 RadarTracker。

open_system([model,'/RadarTracker'])

仿真模型并查看结果。

sim(model)

为模型生成代码

使用 Simulink Coder 提供的子系统编译功能为模型的卡尔曼滤波器部分生成代码。在第一个编译中，该模型配置为使用 Simulink Coder™ 生成代码。在第二个编译中，该模型配置为使用 Embedded Coder® 生成代码。

使用 Simulink Coder 配置和编译模型。

set_param(model, "SystemTargetFile", "grt.tlc");
slbuild([model,'/RadarTracker'])

### Searching for referenced models in model 'RadarTracker'.
### Total of 1 models to build.
### Starting build procedure for: RadarTracker
### Successful completion of build procedure for: RadarTracker

Build Summary

Top model targets:

Model         Build Reason                                         Status                        Build Duration
===============================================================================================================
RadarTracker  Information cache folder or artifacts were missing.  Code generated and compiled.  0h 0m 11.338s 

1 of 1 models built (0 models already up to date)
Build duration: 0h 0m 11.521s

使用 Embedded Coder 配置和编译模型。

set_param(model, "SystemTargetFile", "ert.tlc");
slbuild([model,'/RadarTracker'])

### Searching for referenced models in model 'RadarTracker'.
### Total of 1 models to build.
### Starting build procedure for: RadarTracker
### Successful completion of build procedure for: RadarTracker

Build Summary

Top model targets:

Model         Build Reason                                         Status                        Build Duration
===============================================================================================================
RadarTracker  Information cache folder or artifacts were missing.  Code generated and compiled.  0h 0m 11.771s 

1 of 1 models built (0 models already up to date)
Build duration: 0h 0m 12.017s

下面列出了 RadarTracker.c 的一部分。

cfile = fullfile(pwd,'RadarTracker_ert_rtw','RadarTracker.c');
coder.example.extractLines(cfile,'/* Model step', '/* Model initialize', 1, 0);

/* Model step function */
void RadarTracker_step(void)
{
  __m128d tmp_0;
  __m128d tmp_1;
  __m128d tmp_2;
  __m128d tmp_3;
  __m128d tmp_5;
  real_T P_tmp[16];
  real_T Phi_0[16];
  real_T Q[16];
  real_T Q_0[16];
  real_T M[8];
  real_T W[8];
  real_T tmp[8];
  real_T x_tmp[8];
  real_T b[4];
  real_T x[4];
  real_T tmp_4[2];
  real_T Bearinghat;
  real_T Phi_5;
  real_T Phi_6;
  real_T Rangehat;
  int32_T Q_tmp;
  int32_T i;
  int32_T j;
  int32_T tmp_6;
  int32_T tmp_7;
  int32_T x_tmp_tmp;
  int8_T Phi[16];
  int8_T Phi_1;
  int8_T Phi_2;
  int8_T Phi_3;
  int8_T Phi_4;
  static const real_T e[4] = { 0.0, 0.005, 0.0, 0.005 };

  static const real_T c_b[4] = { 90000.0, 0.0, 0.0, 1.0E-6 };

  /* MATLAB Function: '<Root>/RadarTracker' incorporates:
   *  Inport: '<Root>/meas'
   */
  Phi[0] = 1;
  Phi[4] = 1;
  Phi[8] = 0;
  Phi[12] = 0;
  Phi[2] = 0;
  Phi[6] = 0;
  Phi[10] = 1;
  Phi[14] = 1;
  Phi[1] = 0;
  Phi[3] = 0;
  Phi[5] = 1;
  Phi[7] = 0;
  Phi[9] = 0;
  Phi[11] = 0;
  Phi[13] = 0;
  Phi[15] = 1;
  memset(&Q[0], 0, sizeof(real_T) << 4U);
  for (j = 0; j < 4; j++) {
    Q_tmp = j << 2;
    Q[j + Q_tmp] = e[j];
    Rangehat = 0.0;
    Bearinghat = 0.0;
    Phi_5 = 0.0;
    Phi_6 = 0.0;
    for (i = 0; i < 4; i++) {
      x_tmp_tmp = i << 2;
      tmp_5 = _mm_set1_pd(RadarTracker_DW.P[Q_tmp + i]);
      _mm_storeu_pd(&tmp_4[0], _mm_add_pd(_mm_mul_pd(_mm_set_pd(Phi[x_tmp_tmp +
        1], Phi[x_tmp_tmp]), tmp_5), _mm_set_pd(Bearinghat, Rangehat)));
      Rangehat = tmp_4[0];
      Bearinghat = tmp_4[1];
      _mm_storeu_pd(&tmp_4[0], _mm_add_pd(_mm_mul_pd(_mm_set_pd(Phi[x_tmp_tmp +
        3], Phi[x_tmp_tmp + 2]), tmp_5), _mm_set_pd(Phi_6, Phi_5)));
      Phi_5 = tmp_4[0];
      Phi_6 = tmp_4[1];
    }

    Phi_0[Q_tmp + 3] = Phi_6;
    Phi_0[Q_tmp + 2] = Phi_5;
    Phi_0[Q_tmp + 1] = Bearinghat;
    Phi_0[Q_tmp] = Rangehat;
  }

  Rangehat = 0.0;
  Bearinghat = 0.0;
  Phi_5 = 0.0;
  Phi_6 = 0.0;
  for (i = 0; i < 4; i++) {
    Phi_1 = Phi[i + 4];
    Phi_2 = Phi[i];
    Phi_3 = Phi[i + 8];
    Phi_4 = Phi[i + 12];
    for (x_tmp_tmp = 0; x_tmp_tmp <= 2; x_tmp_tmp += 2) {
      tmp_5 = _mm_loadu_pd(&Phi_0[x_tmp_tmp + 4]);
      tmp_0 = _mm_loadu_pd(&Phi_0[x_tmp_tmp]);
      tmp_1 = _mm_loadu_pd(&Phi_0[x_tmp_tmp + 8]);
      tmp_2 = _mm_loadu_pd(&Phi_0[x_tmp_tmp + 12]);
      j = (i << 2) + x_tmp_tmp;
      tmp_3 = _mm_loadu_pd(&Q[j]);
      _mm_storeu_pd(&RadarTracker_DW.P[j], _mm_add_pd(_mm_add_pd(_mm_add_pd
        (_mm_add_pd(_mm_mul_pd(tmp_5, _mm_set1_pd(Phi_1)), _mm_mul_pd(tmp_0,
        _mm_set1_pd(Phi_2))), _mm_mul_pd(tmp_1, _mm_set1_pd(Phi_3))), _mm_mul_pd
        (tmp_2, _mm_set1_pd(Phi_4))), tmp_3));
    }

    x_tmp_tmp = i << 2;
    tmp_5 = _mm_set1_pd(RadarTracker_DW.xhat[i]);
    _mm_storeu_pd(&tmp_4[0], _mm_add_pd(_mm_mul_pd(_mm_set_pd(Phi[x_tmp_tmp + 1],
      Phi[x_tmp_tmp]), tmp_5), _mm_set_pd(Bearinghat, Rangehat)));
    Rangehat = tmp_4[0];
    Bearinghat = tmp_4[1];
    _mm_storeu_pd(&tmp_4[0], _mm_add_pd(_mm_mul_pd(_mm_set_pd(Phi[x_tmp_tmp + 3],
      Phi[x_tmp_tmp + 2]), tmp_5), _mm_set_pd(Phi_6, Phi_5)));
    Phi_5 = tmp_4[0];
    Phi_6 = tmp_4[1];
  }

  RadarTracker_DW.xhat[0] = Rangehat;
  RadarTracker_DW.xhat[1] = Bearinghat;
  RadarTracker_DW.xhat[2] = Phi_5;
  RadarTracker_DW.xhat[3] = Phi_6;
  Rangehat = sqrt(RadarTracker_DW.xhat[0] * RadarTracker_DW.xhat[0] +
                  RadarTracker_DW.xhat[2] * RadarTracker_DW.xhat[2]);
  Bearinghat = rt_atan2d_snf(RadarTracker_DW.xhat[2], RadarTracker_DW.xhat[0]);
  Phi_5 = sin(Bearinghat);
  Phi_6 = cos(Bearinghat);
  M[0] = Phi_6;
  M[2] = 0.0;
  M[4] = Phi_5;
  M[6] = 0.0;
  M[1] = -Phi_5 / Rangehat;
  M[3] = 0.0;
  M[5] = Phi_6 / Rangehat;
  M[7] = 0.0;
  _mm_storeu_pd(&RadarTracker_Y.residual[0], _mm_sub_pd(_mm_loadu_pd
    (&RadarTracker_U.meas[0]), _mm_set_pd(Bearinghat, Rangehat)));
  for (i = 0; i < 2; i++) {
    x_tmp_tmp = i << 2;
    x_tmp[x_tmp_tmp] = M[i];
    x_tmp[x_tmp_tmp + 1] = 0.0;
    x_tmp[x_tmp_tmp + 2] = M[i + 4];
    x_tmp[x_tmp_tmp + 3] = 0.0;
  }

  for (i = 0; i < 4; i++) {
    Rangehat = 0.0;
    Bearinghat = 0.0;
    for (x_tmp_tmp = 0; x_tmp_tmp < 4; x_tmp_tmp++) {
      tmp_5 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&M[x_tmp_tmp << 1]),
        _mm_set1_pd(RadarTracker_DW.P[(i << 2) + x_tmp_tmp])), _mm_set_pd
                         (Bearinghat, Rangehat));
      _mm_storeu_pd(&tmp_4[0], tmp_5);
      Rangehat = tmp_4[0];
      Bearinghat = tmp_4[1];
    }

    x_tmp_tmp = i << 1;
    W[x_tmp_tmp + 1] = Bearinghat;
    W[x_tmp_tmp] = Rangehat;
  }

  for (i = 0; i < 2; i++) {
    Rangehat = W[i + 2];
    Bearinghat = W[i];
    Phi_5 = W[i + 4];
    Phi_6 = W[i + 6];
    for (x_tmp_tmp = 0; x_tmp_tmp <= 0; x_tmp_tmp += 2) {
      j = (x_tmp_tmp + 1) << 2;
      Q_tmp = x_tmp_tmp << 2;
      tmp_6 = (x_tmp_tmp << 1) + i;
      tmp_7 = ((x_tmp_tmp + 1) << 1) + i;
      _mm_storeu_pd(&tmp_4[0], _mm_add_pd(_mm_add_pd(_mm_add_pd(_mm_add_pd
        (_mm_mul_pd(_mm_set_pd(x_tmp[j + 1], x_tmp[Q_tmp + 1]), _mm_set1_pd
                    (Rangehat)), _mm_mul_pd(_mm_set_pd(x_tmp[j], x_tmp[Q_tmp]),
        _mm_set1_pd(Bearinghat))), _mm_mul_pd(_mm_set_pd(x_tmp[j + 2],
        x_tmp[Q_tmp + 2]), _mm_set1_pd(Phi_5))), _mm_mul_pd(_mm_set_pd(x_tmp[j +
        3], x_tmp[Q_tmp + 3]), _mm_set1_pd(Phi_6))), _mm_set_pd(c_b[tmp_7],
        c_b[tmp_6])));
      x[tmp_6] = tmp_4[0];
      x[tmp_7] = tmp_4[1];
    }
  }

  if (fabs(x[1]) > fabs(x[0])) {
    Rangehat = x[0] / x[1];
    Bearinghat = 1.0 / (Rangehat * x[3] - x[2]);
    b[0] = x[3] / x[1] * Bearinghat;
    b[1] = -Bearinghat;
    b[2] = -x[2] / x[1] * Bearinghat;
    b[3] = Rangehat * Bearinghat;
  } else {
    Rangehat = x[1] / x[0];
    Bearinghat = 1.0 / (x[3] - Rangehat * x[2]);
    b[0] = x[3] / x[0] * Bearinghat;
    b[1] = -Rangehat * Bearinghat;
    b[2] = -x[2] / x[0] * Bearinghat;
    b[3] = Bearinghat;
  }

  for (i = 0; i < 2; i++) {
    Rangehat = 0.0;
    Bearinghat = 0.0;
    Phi_5 = 0.0;
    Phi_6 = 0.0;
    for (x_tmp_tmp = 0; x_tmp_tmp < 4; x_tmp_tmp++) {
      j = x_tmp_tmp << 2;
      Q_tmp = (i << 2) + x_tmp_tmp;
      tmp_5 = _mm_set1_pd(x_tmp[Q_tmp]);
      tmp_0 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&RadarTracker_DW.P[j]), tmp_5),
                         _mm_set_pd(Bearinghat, Rangehat));
      _mm_storeu_pd(&tmp_4[0], tmp_0);
      Rangehat = tmp_4[0];
      Bearinghat = tmp_4[1];
      tmp_5 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&RadarTracker_DW.P[j + 2]),
        tmp_5), _mm_set_pd(Phi_6, Phi_5));
      _mm_storeu_pd(&tmp_4[0], tmp_5);
      Phi_5 = tmp_4[0];
      Phi_6 = tmp_4[1];
      W[Q_tmp] = 0.0;
    }

    x_tmp_tmp = i << 2;
    tmp[x_tmp_tmp + 3] = Phi_6;
    tmp[x_tmp_tmp + 2] = Phi_5;
    tmp[x_tmp_tmp + 1] = Bearinghat;
    tmp[x_tmp_tmp] = Rangehat;
  }

  for (i = 0; i < 2; i++) {
    Q_tmp = i << 2;
    Rangehat = W[Q_tmp];
    Bearinghat = W[Q_tmp + 1];
    Phi_5 = W[Q_tmp + 2];
    Phi_6 = W[Q_tmp + 3];
    for (x_tmp_tmp = 0; x_tmp_tmp < 2; x_tmp_tmp++) {
      j = x_tmp_tmp << 2;
      tmp_5 = _mm_set1_pd(b[(i << 1) + x_tmp_tmp]);
      tmp_0 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&tmp[j]), tmp_5), _mm_set_pd
                         (Bearinghat, Rangehat));
      _mm_storeu_pd(&tmp_4[0], tmp_0);
      Rangehat = tmp_4[0];
      Bearinghat = tmp_4[1];
      tmp_5 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&tmp[j + 2]), tmp_5),
                         _mm_set_pd(Phi_6, Phi_5));
      _mm_storeu_pd(&tmp_4[0], tmp_5);
      Phi_5 = tmp_4[0];
      Phi_6 = tmp_4[1];
    }

    W[Q_tmp + 3] = Phi_6;
    W[Q_tmp + 2] = Phi_5;
    W[Q_tmp + 1] = Bearinghat;
    W[Q_tmp] = Rangehat;
  }

  Rangehat = RadarTracker_Y.residual[1];
  Bearinghat = RadarTracker_Y.residual[0];
  for (i = 0; i <= 2; i += 2) {
    tmp_5 = _mm_loadu_pd(&W[i + 4]);
    tmp_0 = _mm_loadu_pd(&W[i]);
    tmp_1 = _mm_loadu_pd(&RadarTracker_DW.xhat[i]);
    _mm_storeu_pd(&RadarTracker_DW.xhat[i], _mm_add_pd(_mm_add_pd(_mm_mul_pd
      (tmp_5, _mm_set1_pd(Rangehat)), _mm_mul_pd(tmp_0, _mm_set1_pd(Bearinghat))),
      tmp_1));
  }

  for (i = 0; i < 16; i++) {
    Phi[i] = 0;
  }

  Phi[0] = 1;
  Phi[5] = 1;
  Phi[10] = 1;
  Phi[15] = 1;
  memset(&Q[0], 0, sizeof(real_T) << 4U);
  for (j = 0; j < 4; j++) {
    Q_tmp = j << 2;
    Q[j + Q_tmp] = 1.0;
    Rangehat = 0.0;
    Bearinghat = 0.0;
    Phi_5 = 0.0;
    Phi_6 = 0.0;
    for (i = 0; i < 2; i++) {
      x_tmp_tmp = i << 2;
      tmp_5 = _mm_set1_pd(M[(j << 1) + i]);
      tmp_0 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&W[x_tmp_tmp]), tmp_5),
                         _mm_set_pd(Bearinghat, Rangehat));
      _mm_storeu_pd(&tmp_4[0], tmp_0);
      Rangehat = tmp_4[0];
      Bearinghat = tmp_4[1];
      tmp_5 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&W[x_tmp_tmp + 2]), tmp_5),
                         _mm_set_pd(Phi_6, Phi_5));
      _mm_storeu_pd(&tmp_4[0], tmp_5);
      Phi_5 = tmp_4[0];
      Phi_6 = tmp_4[1];
    }

    P_tmp[Q_tmp + 3] = Phi_6;
    P_tmp[Q_tmp + 2] = Phi_5;
    P_tmp[Q_tmp + 1] = Bearinghat;
    P_tmp[Q_tmp] = Rangehat;
  }

  for (i = 0; i <= 14; i += 2) {
    tmp_5 = _mm_loadu_pd(&Q[i]);
    tmp_0 = _mm_loadu_pd(&P_tmp[i]);
    _mm_storeu_pd(&Q_0[i], _mm_sub_pd(tmp_5, tmp_0));
  }

  for (i = 0; i < 4; i++) {
    Rangehat = 0.0;
    Bearinghat = 0.0;
    Phi_5 = 0.0;
    Phi_6 = 0.0;
    for (x_tmp_tmp = 0; x_tmp_tmp < 4; x_tmp_tmp++) {
      j = x_tmp_tmp << 2;
      Q_tmp = (i << 2) + x_tmp_tmp;
      tmp_5 = _mm_set1_pd(RadarTracker_DW.P[Q_tmp]);
      tmp_0 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&Q_0[j]), tmp_5), _mm_set_pd
                         (Bearinghat, Rangehat));
      _mm_storeu_pd(&tmp_4[0], tmp_0);
      Rangehat = tmp_4[0];
      Bearinghat = tmp_4[1];
      tmp_5 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&Q_0[j + 2]), tmp_5),
                         _mm_set_pd(Phi_6, Phi_5));
      _mm_storeu_pd(&tmp_4[0], tmp_5);
      Phi_5 = tmp_4[0];
      Phi_6 = tmp_4[1];
      j += i;
      Phi_0[Q_tmp] = (real_T)Phi[j] - P_tmp[j];
    }

    Q_tmp = i << 2;
    Q[Q_tmp + 3] = Phi_6;
    Q[Q_tmp + 2] = Phi_5;
    Q[Q_tmp + 1] = Bearinghat;
    Q[Q_tmp] = Rangehat;
  }

  for (i = 0; i < 2; i++) {
    Rangehat = 0.0;
    Bearinghat = 0.0;
    Phi_5 = 0.0;
    Phi_6 = 0.0;
    for (x_tmp_tmp = 0; x_tmp_tmp < 2; x_tmp_tmp++) {
      j = x_tmp_tmp << 2;
      tmp_5 = _mm_set1_pd(c_b[(i << 1) + x_tmp_tmp]);
      tmp_0 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&W[j]), tmp_5), _mm_set_pd
                         (Bearinghat, Rangehat));
      _mm_storeu_pd(&tmp_4[0], tmp_0);
      Rangehat = tmp_4[0];
      Bearinghat = tmp_4[1];
      tmp_5 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&W[j + 2]), tmp_5), _mm_set_pd
                         (Phi_6, Phi_5));
      _mm_storeu_pd(&tmp_4[0], tmp_5);
      Phi_5 = tmp_4[0];
      Phi_6 = tmp_4[1];
    }

    Q_tmp = i << 2;
    M[Q_tmp + 3] = Phi_6;
    M[Q_tmp + 2] = Phi_5;
    M[Q_tmp + 1] = Bearinghat;
    M[Q_tmp] = Rangehat;
  }

  for (i = 0; i < 4; i++) {
    Rangehat = 0.0;
    Bearinghat = 0.0;
    Phi_5 = 0.0;
    Phi_6 = 0.0;
    for (x_tmp_tmp = 0; x_tmp_tmp < 4; x_tmp_tmp++) {
      j = x_tmp_tmp << 2;
      Q_tmp = (i << 2) + x_tmp_tmp;
      tmp_5 = _mm_set1_pd(Phi_0[Q_tmp]);
      tmp_0 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&Q[j]), tmp_5), _mm_set_pd
                         (Bearinghat, Rangehat));
      _mm_storeu_pd(&tmp_4[0], tmp_0);
      Rangehat = tmp_4[0];
      Bearinghat = tmp_4[1];
      tmp_5 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&Q[j + 2]), tmp_5), _mm_set_pd
                         (Phi_6, Phi_5));
      _mm_storeu_pd(&tmp_4[0], tmp_5);
      Phi_5 = tmp_4[0];
      Phi_6 = tmp_4[1];
      P_tmp[Q_tmp] = 0.0;
    }

    Q_tmp = i << 2;
    Q_0[Q_tmp + 3] = Phi_6;
    Q_0[Q_tmp + 2] = Phi_5;
    Q_0[Q_tmp + 1] = Bearinghat;
    Q_0[Q_tmp] = Rangehat;
    Rangehat = P_tmp[Q_tmp];
    Bearinghat = P_tmp[Q_tmp + 1];
    Phi_5 = P_tmp[Q_tmp + 2];
    Phi_6 = P_tmp[Q_tmp + 3];
    for (x_tmp_tmp = 0; x_tmp_tmp < 2; x_tmp_tmp++) {
      j = x_tmp_tmp << 2;
      tmp_5 = _mm_set1_pd(W[j + i]);
      tmp_0 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&M[j]), tmp_5), _mm_set_pd
                         (Bearinghat, Rangehat));
      _mm_storeu_pd(&tmp_4[0], tmp_0);
      Rangehat = tmp_4[0];
      Bearinghat = tmp_4[1];
      tmp_5 = _mm_add_pd(_mm_mul_pd(_mm_loadu_pd(&M[j + 2]), tmp_5), _mm_set_pd
                         (Phi_6, Phi_5));
      _mm_storeu_pd(&tmp_4[0], tmp_5);
      Phi_5 = tmp_4[0];
      Phi_6 = tmp_4[1];
    }

    P_tmp[Q_tmp + 3] = Phi_6;
    P_tmp[Q_tmp + 2] = Phi_5;
    P_tmp[Q_tmp + 1] = Bearinghat;
    P_tmp[Q_tmp] = Rangehat;
  }

  for (i = 0; i <= 14; i += 2) {
    tmp_5 = _mm_loadu_pd(&Q_0[i]);
    tmp_0 = _mm_loadu_pd(&P_tmp[i]);
    _mm_storeu_pd(&RadarTracker_DW.P[i], _mm_add_pd(tmp_5, tmp_0));
  }

  /* Outport: '<Root>/xhatOut' incorporates:
   *  MATLAB Function: '<Root>/RadarTracker'
   */
  RadarTracker_Y.xhatOut[0] = RadarTracker_DW.xhat[0];
  RadarTracker_Y.xhatOut[1] = RadarTracker_DW.xhat[1];
  RadarTracker_Y.xhatOut[2] = RadarTracker_DW.xhat[2];
  RadarTracker_Y.xhatOut[3] = RadarTracker_DW.xhat[3];
}

您可以在详细的 HTML 报告中查看生成的完整代码，该报告可在模型和代码之间提供双向可追溯性。

web(fullfile(pwd,'RadarTracker_ert_rtw','html','index.html'))