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Sensor Fusion and Tracking Toolbox

Design and simulate multisensor tracking and navigation systems

Sensor Fusion and Tracking Toolbox™ includes algorithms and tools for the design, simulation, and analysis of systems that fuse data from multiple sensors to maintain position, orientation, and situational awareness. Reference examples provide a starting point for implementing components of airborne, ground-based, shipborne, and underwater surveillance, navigation, and autonomous systems.

The toolbox includes multi-object trackers, sensor fusion filters, motion and sensor models, and data association algorithms that let you evaluate fusion architectures using real and synthetic data. With Sensor Fusion and Tracking Toolbox you can import and define scenarios and trajectories, stream signals, and generate synthetic data for active and passive sensors, including RF, acoustic, EO/IR, and GPS/IMU sensors. You can also evaluate system accuracy and performance with standard benchmarks, metrics, and animated plots.

For simulation acceleration or desktop prototyping, the toolbox supports C code generation.

Getting Started

Learn the basics of Sensor Fusion and Tracking Toolbox


Air traffic control, inertial navigation, passive ranging, and autonomous systems

Orientation, Position, and Coordinate Systems

Quaternions, Euler angles, rotation matrices, and conversions

Trajectory and Scenario Generation

Ground-truth waypoint- and rate-based trajectories and scenarios

Sensor Models


Inertial Sensor Fusion

IMU and GPS sensor fusion to determine orientation and position

Estimation Filters

Kalman and particle filters, EKF, UKF, motion models, and IMM

Multi-Object Trackers

Multi-sensor trackers, data association, GNN, and MHT

Visualization and Analytics

Multi-object theater plots, detection and object tracks, and track metrics