AerospaceESMRadar

Sensor specification for direction-finding radar

Since R2024b

Description

The AerospaceESMRadar object contains a sensor specification for a direction-finding radar. You can use the AerospaceESMRadar object as an input to multiSensorTargetTracker.

Creation

To create an AerospaceESMRadar object, use the trackerSensorSpec function with the "aerospace", "radar", and "direction-finder" input arguments. For example:

spec = trackerSensorSpec("aerospace","radar","direction-finder")

Properties

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`MaxNumLooksPerUpdate` — Maximum number of looks per update
`30` (default) | 1 | positive integer

Maximum number of looks per update, specified as 1 if the sensor is not scanning and as a positive integer greater than 1 if the sensor is scanning.

Example: 30

`MaxNumMeasurementsPerUpdate` — Maximum number of measurements per update
`10` (default) | `1` | positive integer

Maximum number of measurements per update, specified as a positive integer.

Example: 10

`IsPlatformStationary` — Option to enable stationary mounting platform
`true` (default) | `false`

Option to enable the stationary mounting platform for the sensor, specified as true or false.

Specify true to use PlatformPosition and PlatformOrientation to define the platform position and orientation.
Specify false to use the input data format to define the platform position, velocity, and orientation at any given time. You can use the dataFormat function on the spec object to determine the tracker's input data format.

Example: true

Data Types: logical

`PlatformPosition` — Mounting platform position
`[0 0 0]` (default) | 1-by-3 real-valued vector

Position of the mounting platform for the sensor, specified as a 1-by-3 real-valued vector. Units are in meters. To enable this property, set the IsPlatformStationary property to "true".

Example: [-2 0 0.75]

Data Types: single | double

`PlatformOrientation` — Mounting platform orientation
`[1 0 0; 0 1 0; 0 0 1]` (default) | 3-by-3 real-valued matrix

Orientation of the mounting platform for the sensor, specified as a 3-by-3 real-valued rotation matrix. To enable this property, set the IsPlatformStationary property to "true".

Example: [1 0 0; 0 0.8660 -0.5000; 0 0.5000 0.8660]

Data Types: single | double

`MountingLocation` — Sensor location on platform
`[0 0 0]` (default) | 1-by-3 real-valued vector

Sensor location on the platform, specified as a 1-by-3 real-valued vector of form [x_m y_m z_m]. This property defines the coordinates of the sensor with respect to the platform origin. The default value specifies that the sensor origin is at the origin of its platform. Units are in meters.

Example: [1.25 -0.1 0.8]

Data Types: single | double

`MountingAngles` — Orientation of sensor
`[0 0 0]` (default) | 1-by-3 real-valued vector

Orientation of the sensor with respect to the platform, specified as a 1-by-3 real-valued vector of form [z_yaw y_pitch x_roll]. Each element of the vector corresponds to an intrinsic Euler angle rotation that carries the body axes of the platform to the sensor axes. The three elements describe the rotations around the z-, y-, and x-axis sequentially. Units are in degrees.

Data Types: single | double

`HasElevation` — Option to enable sensor to report target elevation
`true` (default) | `false`

Option to enable the sensor to report target elevation, specified as true or false.

Example: true

Data Types: logical

`FieldOfView` — Field of view of sensor beam
`[60 20]` (default) | 1-by-2 real-valued vector

Field of view of the sensor beam at each look angle, specified as a 1-by-2 real-valued vector of the form [azimuth elevation]. Units are in degrees.

Example: [80 10]

Data Types: single | double

`RangeLimits` — Minimum and maximum detection range of sensor
`[0 1e5]` (default) | 1-by-2 nonnegative real-valued vector

Minimum and maximum detection range of the sensor, specified as a 1-by-2 nonnegative real-valued vector of the form [Rmin Rmax]. The radar does not detect targets that are outside this range. The maximum range, Rmax, must be greater than the minimum range, Rmin. Units are in meters.

Example: [0 5e4]

Data Types: single | double

`AzimuthResolution` — Azimuth resolution of sensor
`1` (default) | positive scalar

Azimuth resolution of the sensor, specified as a positive scalar. The azimuth resolution defines the minimum separation in azimuth angle at which the sensor can distinguish between two targets. Units are in degrees.

Example: 0.3

Data Types: single | double

`ElevationResolution` — Elevation resolution of sensor
`5` (default) | positive scalar

Elevation resolution of the sensor, specified as a positive scalar. The elevation resolution defines the minimum separation in elevation angle at which the sensor can distinguish between two targets. Units are in degrees.

To enable this property, set the HasElevation property to "true".

Example: 2.5

Data Types: single | double

`DetectionProbability` — Probability of detecting target inside the coverage limits
`0.9` (default) | scalar in the range (0,1]

Probability of detecting a target inside the coverage limits, specified as a scalar in the range (0, 1].

Example: 0.75

Data Types: single | double

`FalseAlarmRate` — False alarm report rate
`1e-6` (default) | scalar in the range (0,1]

False alarm report rate within each sensor resolution cell, specified as a positive scalar in the range (0,1]. Units are dimensionless. The object determines resolution cells from the AzimuthResolution and RangeResolution properties and, when enabled, from the ElevationResolution and RangeRateResolution properties.

Example: 1e-4

Data Types: single | double

Object Functions

dataFormat Structure for data format required by task-oriented tracker

More About

expand all

Data Format Required By Task-Oriented Tracker

When you initialize a tracker using this object, you need sensor data to update the tracker. For a full list of required sensor data and their descriptions, see the table below. See the dataFormat function for details on updating the tracker with sensor data.

Field Name	Description	Comment
`LookTime`	Timestamps of sensor scans, specified as an N-element row vector. N must be smaller than the value specified in the `MaxNumLooksPerUpdate` property.	None
`LookAzimuth`	Look azimuth angles at `LookTime`, specified as an N-element row vector. Units are in degrees.	None
`LookElevation`	Look elevation angles at `LookTime`, specified as an N-element row vector. Units are in degrees.	Applies only when the `HasElevation` property is set to `"true"`.
`PlatformPosition`	Platform position, specified as a 3-by-N matrix. Each column represents the `[x;y;z]` platform coordinates at the corresponding `LookTime`. Units are in meters.	Applies only when the `IsPlatformStationary` property is set to `"false"`.
`PlatformOrientation`	Platform orientation, specified as a 3-by-3-N matrix. Each 3-by-3 slice represents the rotation matrix at the corresponding `LookTime`. Units are in degrees.	Applies only when the `IsPlatformStationary` property is set to `"false"`.
`DetectionsTimes`	Timestamps of detections, specified as an M-element row vector. M must be smaller than the value specified in the `MaxNumMeasurementsPerUpdate` property.	None
`Azimuth`	Detection azimuth angles of observed targets, specified as an M-element row vector. Units are in degrees.	None
`Elevation`	Detection elevation angles of observed targets, specified as an M-element row vector. Units are in degrees.	Applies only when the `HasElevation` property is set to `"true"`.
`AzimuthAccuracy`	Standard deviation of azimuth angle measurements, specified as an M-element row vector. Units are in degrees.	None
`ElevationAccuracy`	Standard deviation of elevation angle measurements, specified as an M-element row vector. Units are in degrees.	Applies only when the `HasElevation` property is set to `"true"`.

Tip

To update the tracker at a timestamp when the sensor scan is not complete, specify "LookTime" as empty using zeros(0,1,dataType).

Version History

Introduced in R2024b

AerospaceESMRadar

Description

Creation

Properties

`MaxNumLooksPerUpdate` — Maximum number of looks per update
`30` (default) | 1 | positive integer

`MaxNumMeasurementsPerUpdate` — Maximum number of measurements per update
`10` (default) | `1` | positive integer

`IsPlatformStationary` — Option to enable stationary mounting platform
`true` (default) | `false`

`PlatformPosition` — Mounting platform position
`[0 0 0]` (default) | 1-by-3 real-valued vector

`PlatformOrientation` — Mounting platform orientation
`[1 0 0; 0 1 0; 0 0 1]` (default) | 3-by-3 real-valued matrix

`MountingLocation` — Sensor location on platform
`[0 0 0]` (default) | 1-by-3 real-valued vector

`MountingAngles` — Orientation of sensor
`[0 0 0]` (default) | 1-by-3 real-valued vector

`HasElevation` — Option to enable sensor to report target elevation
`true` (default) | `false`

`FieldOfView` — Field of view of sensor beam
`[60 20]` (default) | 1-by-2 real-valued vector

`RangeLimits` — Minimum and maximum detection range of sensor
`[0 1e5]` (default) | 1-by-2 nonnegative real-valued vector

`AzimuthResolution` — Azimuth resolution of sensor
`1` (default) | positive scalar

`ElevationResolution` — Elevation resolution of sensor
`5` (default) | positive scalar

`DetectionProbability` — Probability of detecting target inside the coverage limits
`0.9` (default) | scalar in the range (0,1]

`FalseAlarmRate` — False alarm report rate
`1e-6` (default) | scalar in the range (0,1]

Object Functions

More About

Data Format Required By Task-Oriented Tracker

Version History

See Also

Functions

Objects

AerospaceESMRadar

Description

Creation

Properties

MaxNumLooksPerUpdate — Maximum number of looks per update 30 (default) | 1 | positive integer

MaxNumMeasurementsPerUpdate — Maximum number of measurements per update 10 (default) | 1 | positive integer

IsPlatformStationary — Option to enable stationary mounting platform true (default) | false

PlatformPosition — Mounting platform position [0 0 0] (default) | 1-by-3 real-valued vector

PlatformOrientation — Mounting platform orientation [1 0 0; 0 1 0; 0 0 1] (default) | 3-by-3 real-valued matrix

MountingLocation — Sensor location on platform [0 0 0] (default) | 1-by-3 real-valued vector

MountingAngles — Orientation of sensor [0 0 0] (default) | 1-by-3 real-valued vector

HasElevation — Option to enable sensor to report target elevation true (default) | false

FieldOfView — Field of view of sensor beam [60 20] (default) | 1-by-2 real-valued vector

RangeLimits — Minimum and maximum detection range of sensor [0 1e5] (default) | 1-by-2 nonnegative real-valued vector

AzimuthResolution — Azimuth resolution of sensor 1 (default) | positive scalar

ElevationResolution — Elevation resolution of sensor 5 (default) | positive scalar

DetectionProbability — Probability of detecting target inside the coverage limits 0.9 (default) | scalar in the range (0,1]

FalseAlarmRate — False alarm report rate 1e-6 (default) | scalar in the range (0,1]

Object Functions

More About

Data Format Required By Task-Oriented Tracker

Version History

See Also

Functions

Objects

`MaxNumLooksPerUpdate` — Maximum number of looks per update
`30` (default) | 1 | positive integer

`MaxNumMeasurementsPerUpdate` — Maximum number of measurements per update
`10` (default) | `1` | positive integer

`IsPlatformStationary` — Option to enable stationary mounting platform
`true` (default) | `false`

`PlatformPosition` — Mounting platform position
`[0 0 0]` (default) | 1-by-3 real-valued vector

`PlatformOrientation` — Mounting platform orientation
`[1 0 0; 0 1 0; 0 0 1]` (default) | 3-by-3 real-valued matrix

`MountingLocation` — Sensor location on platform
`[0 0 0]` (default) | 1-by-3 real-valued vector

`MountingAngles` — Orientation of sensor
`[0 0 0]` (default) | 1-by-3 real-valued vector

`HasElevation` — Option to enable sensor to report target elevation
`true` (default) | `false`

`FieldOfView` — Field of view of sensor beam
`[60 20]` (default) | 1-by-2 real-valued vector

`RangeLimits` — Minimum and maximum detection range of sensor
`[0 1e5]` (default) | 1-by-2 nonnegative real-valued vector

`AzimuthResolution` — Azimuth resolution of sensor
`1` (default) | positive scalar

`ElevationResolution` — Elevation resolution of sensor
`5` (default) | positive scalar

`DetectionProbability` — Probability of detecting target inside the coverage limits
`0.9` (default) | scalar in the range (0,1]

`FalseAlarmRate` — False alarm report rate
`1e-6` (default) | scalar in the range (0,1]