Tracking Scenario Reader

Examples

Track Point Targets in Dense Clutter Using GM-PHD Tracker in Simulink

Radars generally receive echoes from all surfaces in the signal path. These unwanted back-scattered signals or echoes generated from physical objects are called clutter. In a densely cluttered environment, missed detections and false alarms make tracking objects a challenging task for conventional trackers such as Global Nearest-Neighbor (GNN) tracker. In such an environment a PHD tracker provides better estimation of objects as it can handle multiple detections per object per sensor without clustering them first. This example shows you how to track points targets in dense clutter using a Gaussian mixture probability hypothesis density (GM-PHD) tracker with a constant velocity model in Simulink. The example closely follows the Track Point Targets in Dense Clutter Using GM-PHD Tracker MATLAB® example.

Since R2021a
Open Model

Ports

Input

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Platform Poses — Platform pose information
Simulink^® bus containing MATLAB^® structure

Platform pose information, specified as a Simulink bus containing a MATLAB structure. The structure has the form:

Field	Description
`NumPlatforms`	Number of valid platforms, specified as a nonnegative integer.
`Platforms`	Platforms, specified as an array of platform pose structures. The first `NumPlatforms` of these structures are actual platform poses.

The fields of each platform structure is:

Field	Description
`PlatformID`	Unique platform identifier, specified as a positive integer.
`ClassID`	Platform classification identifier, specified as a nonnegative integer
`Position`	Position of the platform, specified as a 3-element real-valued vector. If the `IsEarthCentered` property of the scenario is set to `false`, specify the position as a three element Cartesian state [`x`, `y`, `z`] in meters. If the `IsEarthCentered` property of the scenario is set to `true`, specify the position as a three element geodetic state: `latitude` in degrees, `longitude` in degrees, and `altitude` in meters.
`Velocity`	Velocity of the platform, specified as a 3-element real-valued vector in m/s.
`Acceleration`	Acceleration of the platform, specified as a 3-element real-valued vector in m/s².
`Orientation`	Orientation of the platform with respect to the local scenario frame, specified as a 3-by-3 rotation matrix.
`AngularVelocity`	Angular velocity of the platform relative to the local scenario frame, specified as a 3-element real-valued vector in degrees per second.

You must pre-define each platform in the scenario before specifying its pose as input. Use this input when you cannot pre-define the platform properties, such as its position, in the scenario. For example, define the platform position in response to positions of other platforms for collision avoidance during the scenario run. Selecting this option disables all block output ports except the default Platforms and Simulation Time output ports.

Dependencies

To enable this port, in the Scenario tab, select the Source of platform pose parameter as Input port.

Output

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Platforms — Information of platforms in the scenario
Simulink bus containing MATLAB structure

Information of platforms in the scenario, returned as a Simulink bus containing a MATLAB structure. The structure has the form:

Field	Description
`NumPlatforms`	Number of valid platforms, returned as a nonnegative integer.
`Platforms`	Platforms, returned as an array of platform pose structures. The first `NumPlatforms` of these structures are actual platform poses.

The fields of each platform structure are:

Field	Description
`PlatformID`	Unique platform identifier, returned as a positive integer.
`ClassID`	Platform classification identifier, returned as a nonnegative integer
`Position`	Position of the platform, returned as a 3-element real-valued vector. If the `IsEarthCentered` property of the scenario is set to `false`, the position is returned as a three element Cartesian state [`x`, `y`, `z`] in meters. If the `IsEarthCentered` property of the scenario is set to `true`, the position is returned as a three element geodetic state: `latitude` in degrees, `longitude` in degrees, and `altitude` in meters.
`Velocity`	Velocity of the platform, returned as a 3-element real-valued vector in m/s.
`Acceleration`	Acceleration of the platform, returned as a 3-element real-valued vector in m/s².
`Orientation`	Orientation of the platform with respect to the local scenario frame, returned as a 3-by-3 rotation matrix.
`AngularVelocity`	Angular velocity of the platform relative to the local scenario frame, returned as a 3-element real-valued vector in degrees per second.

The platform structure also contains these fields if you select the Include profiles information with platforms parameter in the Output Setting tab.

Field	Description
`Dimensions`	Platform dimensions and origin offset, returned as a structure. The structure contains the `Length`, `Width`, `Height`, and `OriginOffset` of a cuboid that approximates the dimensions of the platform. The `OriginOffset` is the position vector from the center of the cuboid to the origin of the platform coordinate frame. For more details, see the `Dimensions` property of `Platform`.
`Mesh`	Mesh of the platform, returned as a structure.

The mesh structure contains these fields:

Field	Description
`NumVertices`	Number of valid vertices, returned as a positive integer.
`Vertices`	Vertices of the platform mesh, returned as an N-by-3 real-valued matrix, where N is the maximum number of vertices among all platform meshes in the scenario. The first, second, and third element of each row represents the x-, y-, and z-position of each vertex, respectively.
`NumFaces`	Number of valid faces, returned as a positive integer.
`Faces`	Faces of the platform mesh, returned as an M-by-3 matrix of positive integers, where M is the maximum number of faces among all platform meshes in the scenario. The three elements in each row are the vertex IDs of the three vertices forming the triangle face. The ID of the vertex is its corresponding row number specified in the `Vertices` field.

Simulation Time — Current simulation time
nonnegative scalar

Current simulation time, returned as a nonnegative scalar in seconds.

Coverage Configurations — Coverage configurations in the scenario
Simulink bus containing MATLAB structure

Coverage configurations in the scenario, returned as a Simulink bus containing a MATLAB structure. The structure has the form:

Field	Description
`NumConfigurations`	Number of valid coverage configurations, returned as a nonnegative integer.
`Configurations`	Coverage configurations, returned as an array of coverage configuration structures. The first `NumConfigurations` of these structures are actual coverage configurations.

The fields of each coverage configuration structure are:

Field	Description
`Index`	Unique sensor or emitter index, returned as a positive integer for sensors and returned as a negative integer for emitters.
`LookAngle`	The current boresight angles of the sensor or emitter, returned as two-element vector [`azimuth`; `elevation`] in degrees if the sensor or emitter scans both in the azimuth and elevation directions. If the sensor only scans only in the azimuth direction, the second element is returned as `NaN`.
`FieldOfView`	The field of view of the sensor or emitter, returned a 2-by-2 real-valued matrix in degrees. If the sensor is a lidar sensor, the first row returns the lower and upper azimuth limits and second row returns the lower and upper elevation limits. For other types of sensors or emitters, the first column contains the azimuth and elevation field of view and the second column is returned as `NaN`.
`ScanLimits`	The minimum and maximum angles the sensor or emitter can scan from its mounting orientation, returned as 2-by-2 matrix [`minAz`, `maxAz`; `minEl`, `maxEl`] in degrees if the sensor or emitter scans both in the azimuth and elevation directions. If the sensor only scans only in the azimuth direction, `minEl` and `maxEl` are returned as `NaN`.
`Range`	The range of the beam and coverage area of the sensor or emitter, returned as a scalar in meters.
`Position`	The origin position of the sensor or emitter, returned as a three-element vector [`x`, `y`, `z`] in meters.
`Orientation`	The rotation transformation from the scenario frame to the sensor or emitter mounting frame, returned as a rotation matrix.

Dependencies

To enable this port, in the Output Settings tab, select the Coverage parameter.

Detections — Detection list
Simulink bus containing MATLAB structure

Detection list, returned as a Simulink bus containing a MATLAB structure. The structure has the form:

Field	Description
`NumDetections`	Number of detections, returned as a nonnegative integer.
`Detections`	Object detections, returned as an array of object detection structures. The first `NumDetections` of these detections are actual detections.

The fields of each object detection structure are:

Field	Description
`Time`	Measurement time, returned as a positive scalar.
`Measurement`	Object measurements, returned as a real-valued vector.
`MeasurementNoise`	Measurement noise covariance matrix, returned as a positive define matrix.
`SensorIndex`	Unique ID of the sensor, returned as a positive integer.
`ObjectClassID`	Object classification ID, returned as a nonnegative integer.
`MeasurementParameters`	Measurement parameters, returned as a structure.
`ObjectAttributes`	Additional information passed to tracker, returned as a structure.

See objectDetection for more detailed explanations of these fields.

Dependencies

To enable this port, in the Output Settings tab, select the Detections parameter.

Sensor Configuratons — Sensor configurations in the scenario
Simulink bus containing MATLAB structure

Sensor configurations in the scenario, returned as a Simulink bus containing a MATLAB structure. The structure has the form:

Field	Description
`NumConfigurations`	Number of valid sensor configurations, returned as a nonnegative integer.
`Configurations`	Sensor configurations, returned as an array of coverage configuration structures. The first `NumConfigurations` of these structures are actual sensor configurations.

The fields of each sensor configuration structure are:

Field	Description
`SensorIndex`	Unique sensor identifier, returned as a positive integer.
`IsValidTime`	Indicate if the sensor should report at least a detection at the current time, returned as `false` or `true`.
`IsScanDone`	Indicate if the sensor has completed the current scan, returned as `false` or `true`.
`FieldOfView`	The field of view of the sensor or emitter, returned a 2-by-2 real-valued matrix in degrees. If the sensor is a lidar sensor, the first row returns the lower and upper azimuth limits and second row returns the lower and upper elevation limits. For other types of sensors or emitters, the first column contains the azimuth and elevation field of view and the second column is returned as `NaN`.
`MeasurementParameters`	Sensor measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the scenario frame to the current sensor frame. See the `MeasurementParameters` property of the `objectDetection` object for more details.

Dependencies

To enable this port, in the Output Settings tab, select the Sensor parameter.

Emissions — Radar and sonar emissions in the scenario
Simulink bus containing MATLAB structure

Radar and sonar emissions in the scenario, returned as a Simulink bus containing a MATLAB structure. The structure has the form:

Field	Description
`NumEmissions`	Number of valid emissions, returned as a nonnegative integer.
`Emissions`	Emissions, returned as an array of emission structures. The first `NumEmissions` of these structures are actual emissions.

The fields of each emission structure are:

Field	Description
`PlatformID`	Platform identifier, returned as a positive integer.
`EmitterIndex`	Emitter identifier, returned as a positive integer.
`OriginPosition`	Location of emitter, returned as a 1-by-3 real-valued vector in meters.
`OriginVelocity`	Velocity of emitter, returned as a 1-by-3 real-valued vector in m/s.
`Orientation`	Orientation of emitter with respect to the local scenario frame, returned as a 3-by-3 rotation matrix.
`FieldOfView`	Field of view of the emitter, returned as a two-element vector [`azimuth` `elevation`] in degrees.
`EIRP`	Effective isotropic radiated power of the radar emission, returned as a scalar in dB for radar emission and returned as `NaN` for sonar emission.
`RCS`	Cumulative radar cross-section, returned as a scalar in dBsm for radar emission and returned as `NaN` for sonar emission.
`CenterFrequency`	Center frequency of the signal, returned as a positive scalar in Hz.
`BandWidth`	Half-power bandwidth of the signal, returned as a positive scalar in Hz.
`WaveformType`	Waveform type identifier, returned as a nonnegative integer.
`ProcessingGain`	Processing gain associated with the signal waveform, returned as a scalar in dB.
`PropagationRange`	Total distance over which the signal has propagated, returned as a nonnegative scalar in meters. For direct-path signals, the range is zero.
`PropagationRangeRate`	Total range rate for the path over which the signal has propagated, returned as a scalar in m/s. For direct-path signals, the range rate is zero.
`SourceLevel`	Cumulative source level of an emitted signal, returned as a scalar in dB per micro-pascal for sonar emission and returned as `NaN` for radar emission. The cumulative source level of the emitted signal in decibels is relative to the intensity of a sound wave having an rms pressure of 1 micro-pascal.
`TargetStrength`	Cumulative target strength of the source platform emitting the signal, returned as a scalar in dB for sonar emission and returned as `NaN` for radar emission.

Dependencies

To enable this port, in the Output Settings tab, select the Emissions parameter.

Emitter Configurations — Emitter configurations in the scenario
Simulink bus containing MATLAB structure

Emitter configurations in the scenario, returned as a Simulink bus containing a MATLAB structure. The structure has the form:

Field	Description
`NumConfigurations`	Number of valid emitter configurations, returned as a nonnegative integer.
`Configurations`	Emitter configurations, returned as an array of emitter configuration structures. The first `NumConfigurations` of these structures are actual emitter configurations.

The fields of each emitter configuration are:

Field	Description
`EmitterIndex`	Unique emitter identifier, returned as a positive integer.
`IsValidTime`	Indicate the emission status of the sensor, returned as `false` or `true`.
`IsScanDone`	Indicate if the emitter has completed its current scan, returned as `false` or `true`.
`FieldOfView`	The field of view of the emitter, specified as a two-element vector [`azimuth`; `elevation`] in degrees.
`MeasurementParameters`	Emitter measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the scenario frame to the current emitter frame. See the `MeasurementParameters` property of the `objectDetection` object for more details.

Dependencies

To enable this port, in the Output Settings tab, select the Emitter parameter.

Point Clouds — Point clouds
Simulink bus containing MATLAB structure

Point clouds, returned as a Simulink bus containing a MATLAB structure. The structure has the form:

Field	Description
`NumPointClouds`	Number of valid point clouds, returned as a nonnegative integer.
`PointClouds`	Point clouds, returned as an array point cloud structures. The first `NumPointClouds` of these point cloud structures represent actual point clouds.

The fields of each point cloud structure are:

Field	Description
`NumPoints`	Number of valid points in the `Points` field, returned as a nonnegative integer.
`Points`	Unorganized points reported from the lidar, returned as an N-by-3 real-valued matrix, where N is the maximum number of points from all lidar sensors in the scenario. The first `NumPoints` rows represent actual points generated from the lidar.
`Clusters`	Cluster labels of points in the `Points` field, returned as an N-by-2 matrix of nonnegative integers, where N is the maximum number of points from all lidar sensors in the scenario. The first `NumPoint` rows represent actual cluster labels of the points. For each row of the matrix, the first element represents the `PlatformID` of the target generating the point whereas the second element represents the `ClassID` of the target.

See monostaticLidarSensor for more information.

Dependencies

To enable this port, in the Output Settings tab, select the Point clouds parameter.

Parameters

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Scenario

Source of scenario — Source of tracking scenario
`trackingScenario` (default) | `Tracking Scenario Designer session file`

Specify the source of tracking scenario as one of these options:

trackingScenario — In the Workspace variable name parameter, specify the name of a MATLAB workspace variable that represents a trackingScenario object.
Tracking Scenario Designer session file — In the Session file parameter, specify the name of a session file that was saved from the Tracking Scenario Designer app.

Workspace variable name — Workspace variable name
`trackingScenario` variable name

Specify the workspace variable name as the name of a trackingScenario object in the MATLAB workspace.

If you change the definition of the tracking scenario, use the Refresh Scenario Data button on the Scenario tab to update the scenario.

Dependencies

To enable this parameter, set the Source of scenario parameter to trackingScenario.

Session file — Session file
`Tracking Scenario Designer` session file name

Specify the session file as the name of a session file that was saved from the Tracking Scenario Designer app.

If you change the session file, use the Refresh Scenario Data button on the Scenario tab to update the file.

Dependencies

To enable this parameter, set the Source of scenario parameter to Tracking Scenario Designer session file.

Source of platform pose — Source of platform pose
`Scenario` (default) | `Input port`

Select the source of platform pose as

Scenario — Use the platform poses defined in the scenario that is specified by the Workspace variable name or Session file parameter.
Input port — Specify the platform poses by using the Platform poses input port. Select this option when you cannot pre-define the platform properties, such as its position, in the scenario. For example, define the platform position in response to positions of other platforms for collision avoidance during the scenario run. Also, selecting this option disables all block output ports except the default Platforms and Simulation Time output ports.

Sample time (s) — Sample time of simulation
`0.1` (default) | positive real scalar

Specify the sample time of simulation as a positive real scalar in seconds. Inherited and continuous sample times are not supported.

This sample time overrides the sample time defined in the trackignScenario object or the Tracking Scenario Designer app session file. To obtain the same or similar outputs as the scenario source, define this parameter according to the sample time defined in the trackignScenario object or the Tracking Scenario Designer app session file.

Coordinate system to report platform poses — Coordinate system to report platform poses
`Cartesian` (default) | `Geodetic`

Specify coordinate system to report platform poses as

Cartesian — Report each platform position as a 3-element Cartesian position coordinates in meters with respect to the scenario frame.
Geodetic — Report each platform position as a 3-element geodetic coordinates: latitude in degrees, longitude in degrees, and altitude in meters. To select this option, you must specify the Source of scenario parameter as trackingScenario and set the IsEarthCentered property of the scenario as true.

Output Settings

Platforms

Include profiles information with platforms — Include profiles information with platforms
`off` (default) | `on`

Select this parameter include platform profile information, including platform dimension and mesh, in the Platforms output.

Sensors and emitters

Detections — Enable detections output port
`off` (default) | `on`

Select this parameter to enable the Detections output port.

Dependencies

To enable this parameter, select the Source of platform pose parameter on the Scenario tab as Scenario.

Point clouds — Enable port clouds output port
`off` (default) | `on`

Select this parameter to enable the Point Clouds output port.

Dependencies

To enable this parameter, select the Source of platform pose parameter on the Scenario tab as Scenario.

Emissions — Enable emission output port
`off` (default) | `on`

Select this parameter to enable the Emissions output port.

Dependencies

To enable this parameter, select the Source of platform pose parameter on the Scenario tab as Scenario.

Enable occlusion in emission propagation — Enable occlusion in emission propagation
`on` (default) | `off`

Select this parameter to enable occlusion of signal from platforms in emission propagation.

Dependencies

To enable this parameter, select the Emissions parameter.

Configurations

Coverage — Enable coverage configurations output port
`off` (default) | `on`

Select this parameter to enable the Coverage Configurations output port.

Dependencies

To enable this parameter, select the Source of platform pose parameter on the Scenario tab as Scenario.

Sensor — Enable sensor configurations output port
`off` (default) | `on`

Select this parameter to enable the Sensor Configurations output port.

Dependencies

To enable this parameter, select the Source of platform pose parameter on the Scenario tab as Scenario.

Emitter — Enable emitter configurations output port
`off` (default) | `on`

Select this parameter to enable the Emitter Configurations output port.

Dependencies

To enable this parameter, select the Source of platform pose parameter on the Scenario tab as Scenario.

Random number generator settings

Random number generation — Method to generate random number seed
`Repeatable` (default) | `Not repeatable` | `Specify seed`

Select the method to generate random number seed as Repeatable, Not repeatable, or Specify seed. When selected as

Repeatable — The blocks uses the same random seed every time.
Not repeatable — The blocks uses a different random seed every time.
Specify seed — Specify a random seed for the block using the Initial Seed parameter.

Dependencies

To enable this parameter, select the Detections, Point clouds, or Emissions parameter.

Initial seed — Initial seed for randomization
`0` (default) | nonnegative integer

Specify the initial seed for randomization in the block as a nonnegative integer.

Dependencies

To enable this parameter, select the Random number generation parameter as Specify seed.

Bus Settings

Platforms

Source of platform bus name — Source of name for platform poses bus
`Auto` (default) | `Property`

Specify the source of the name for the platform poses bus returned in the Platforms output port as one of these options:

Auto — The block automatically creates a platform poses bus name.
Property — Specify the platform poses bus name by using the Specify platform bus name parameter.

Specify platform bus name — Specify platform bus name
`BusPlatforms` (default) | valid bus name

Specify the name of the platform pose bus returned in the Platforms output port as a valid bus name.

Dependencies

To enable this parameter, select the Source of platform bus name parameter as Property.

Source of maximum number of platforms — Source of maximum number of platforms
`Auto` (default) | `Property`

Specify the source of the maximum number of platforms that you can have in the tracking scenario as one of these options:

Auto — The block sets the maximum number of platforms to the number of platforms in the tracking scenario.
Property — Specify the maximum number of platforms by using the Maximum number of platforms parameter.

Maximum number of platforms — Maximum number of platforms
`50` (default) | positive integer

Specify the maximum number of platforms as a positive integer.

Dependencies

To enable this parameter, set the Source of maximum number of platforms parameter to Property.

Detections

Source of detection bus name — Source of name for detection bus
`Auto` (default) | `Property`

Specify the source of the name for the detection bus returned in the Detections output port as one of these options:

Auto — The block automatically creates a detection bus name.
Property — Specify the detection bus name by using the Specify detection bus name parameter.

Dependencies

To enable this port, in the Output Settings tab, select the Detections parameter.

Specify detection bus name — Specify detection bus name
`BusDetection` (default) | valid bus name

Specify the name of the detection bus returned in the Detections output port as a valid bus name.

Dependencies

To enable this parameter, select the Source of detection bus name parameter as Property.

Source of maximum number of detections — Source of maximum number of platforms
`Auto` (default) | `Property`

Specify the source of the maximum number of detections that you can generate from the tracking scenario as one of these options:

Auto — The block sets the maximum number of detections to the number of generated detections in the tracking scenario.
Property — Specify the maximum number of detections by using the Maximum number of detections parameter.

Dependencies

To enable this port, in the Output Settings tab, select the Detections parameter.

Maximum number of detections — Maximum number of detections
`50` (default) | positive integer

Specify the maximum number of detections as a positive integer.

Dependencies

To enable this parameter, set the Source of maximum number of detections parameter to Property.

Point clouds

Source of point cloud bus name — Source of name for point cloud bus
`Auto` (default) | `Property`

Specify the source of the name for the point bus returned in the Point Clouds output port as one of these options:

Auto — The block automatically creates a point cloud bus name.
Property — Specify the point cloud bus name by using the Specify point cloud bus name parameter.

Dependencies

To enable this port, in the Output Settings tab, select the Point clouds parameter.

Specify point cloud bus name — Specify point cloud bus name
`BusPointCloud` (default) | valid bus name

Specify the name of the point cloud bus returned in the Point Clouds output port as a valid bus name.

Dependencies

To enable this parameter, select the Source of point cloud bus name parameter as Property.

Maximum number of lidar sensors — Maximum number of lidar sensors
`10` (default) | positive integer

Specify the maximum number of lidar sensors as a positive integer.

Dependencies

To enable this parameter, set the Source of maximum number of lidar sensors parameter to Property.

Source of maximum number of lidar sensors — Source of maximum number of lidar sensors
`Auto` (default) | `Property`

Specify the source of the maximum number of lidar sensors that you can have in the tracking scenario as one of these options:

Auto — The block sets the maximum number of lidar sensors to the number of lidar sensors in the tracking scenario.
Property — Specify the maximum number of detections by using the Maximum number of lidar sensors parameter.

Dependencies

To enable this port, in the Output Settings tab, select the Point clouds parameter.

Emissions

Source of emission bus name — Source of name for emission bus
`Auto` (default) | `Property`

Specify the source of the name for the emission bus returned in the Emissions output port as one of these options:

Auto — The block automatically creates an emission bus name.
Property — Specify the emission bus name by using the Specify emission bus name parameter.

Dependencies

To enable this port, in the Output Settings tab, select the Emissions parameter.

Specify emission bus name — Specify emission bus name
`BusEmission` (default) | valid bus name

Specify the name of the emission bus returned in the Emissions output port as a valid bus name.

Dependencies

To enable this parameter, select the Source of emission bus name parameter as Property.

Source of maximum number of emissions — Source of maximum number of emissions
`Auto` (default) | `Property`

Specify the source of the maximum number of emissions that you can generate from the tracking scenario as one of these options:

Auto — The block sets the maximum number of emissions to the number of emissions generated in the tracking scenario.
Property — Specify the maximum number of emissions by using the Maximum number of emissions parameter.

Dependencies

To enable this port, in the Output Settings tab, select the Emissions parameter.

Maximum number of emissions — Maximum number of emissions
`50` (default) | positive integer

Specify the maximum number of emissions as a positive integer.

Dependencies

To enable this parameter, set the Source of maximum number of emissions parameter to Property.

Configurations

Source of coverage configuration bus name — Source of name for coverage configuration bus
`Auto` (default) | `Property`

Specify the source of the name for the coverage configuration bus returned in the Coverage Configurations output port as one of these options:

Auto — The block automatically creates a coverage configuration bus name.
Property — Specify the coverage configuration bus name by using the Specify coverage configuration bus name parameter.

Dependencies

To enable this port, in the Output Settings tab, select the Coverage parameter.

Specify coverage configuration bus name — Specify coverage configuration bus name
`BusCovConf` (default) | valid bus name

Specify the name of the coverage configuration bus returned in the Coverage Configurations output port as a valid bus name.

Dependencies

To enable this parameter, select the Source of coverage configuration bus name parameter as Property.

Source of sensor configuration bus name — Source of name for sensor configuration bus
`Auto` (default) | `Property`

Specify the source of the name for the sensor configuration bus returned in the Sensor Configurations output port as one of these options:

Auto — The block automatically creates a sensor configuration bus name.
Property — Specify the sensor configuration bus name by using the Specify sensor configuration bus name parameter.

Dependencies

To enable this port, in the Output Settings tab, select the Sensor parameter.

Specify sensor configuration bus name — Specify sensor configuration bus name
`BusSensorConf` (default) | valid bus name

Specify the name of the sensor configuration bus returned in the Sensor Configurations output port as a valid bus name.

Dependencies

To enable this parameter, select the Source of sensor configuration bus name parameter as Property.

Source of emitter configuration bus name — Source of name for emitter configuration bus
`Auto` (default) | `Property`

Specify the source of the name for the emitter configuration bus returned in the Emitter Configurations output port as one of these options:

Auto — The block automatically creates an emitter configuration bus name.
Property — Specify the emitter configuration bus name by using the Specify emitter configuration bus name parameter.

Specify emitter configuration bus name — Specify emitter configuration bus name
`BusEmitterConf` (default) | valid bus name

Specify the name of the emitter configuration bus returned in the Emitter Configurations output port as a valid bus name.

Dependencies

To enable this parameter, select the Source of emitter configuration bus name parameter as Property.

Source of maximum number of sensors — Source of maximum number of sensors
`Auto` (default) | `Property`

Specify the source of the maximum number of sensors that you can have in the tracking scenario as one of these options:

Auto — The block sets the maximum number of emissions to the number of sensors in the tracking scenario.
Property — Specify the maximum number of sensors by using the Maximum number of sensors parameter.

Dependencies

To enable this port, in the Output Settings tab, select the Coverage or Sensor parameter.

Maximum number of sensors — Maximum number of sensors
`10` (default) | positive integer

Specify the maximum number of sensors as a positive integer.

Dependencies

To enable this parameter, set the Source of maximum number of sensors parameter to Property.

Source of maximum number of emitters — Source of maximum number of emitters
`Auto` (default) | `Property`

Specify the source of the maximum number of emitters that you can have in the tracking scenario as one of these options:

Auto — The block sets the maximum number of emitters to the number of emitters in the tracking scenario.
Property — Specify the maximum number of emitters by using the Maximum number of emitters parameter.

Dependencies

To enable this port, in the Output Settings tab, select the Emitter or Sensor parameter.

Maximum number of emitters — Maximum number of emitters
`10` (default) | positive integer

Specify the maximum number of emitters as a positive integer.

Dependencies

To enable this parameter, set the Source of maximum number of emitters parameter to Property.

Version History

Introduced in R2021b

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R2023a: Simulink buses do not show in workspace

As of R2023a, the Simulink buses created by this block no longer show in MATLAB workspace.

Tracking Scenario Reader

Description

Examples

Track Point Targets in Dense Clutter Using GM-PHD Tracker in Simulink

Ports

Input

Platform Poses — Platform pose information Simulink® bus containing MATLAB® structure

Dependencies

Output

Platforms — Information of platforms in the scenario Simulink bus containing MATLAB structure

Simulation Time — Current simulation time nonnegative scalar

Coverage Configurations — Coverage configurations in the scenario Simulink bus containing MATLAB structure

Dependencies

Detections — Detection list Simulink bus containing MATLAB structure

Dependencies

Sensor Configuratons — Sensor configurations in the scenario Simulink bus containing MATLAB structure

Dependencies

Emissions — Radar and sonar emissions in the scenario Simulink bus containing MATLAB structure

Dependencies

Emitter Configurations — Emitter configurations in the scenario Simulink bus containing MATLAB structure

Dependencies

Point Clouds — Point clouds Simulink bus containing MATLAB structure

Dependencies

Parameters

Scenario

Source of scenario — Source of tracking scenario trackingScenario (default) | Tracking Scenario Designer session file

Workspace variable name — Workspace variable name trackingScenario variable name

Dependencies

Session file — Session file Tracking Scenario Designer session file name

Dependencies

Source of platform pose — Source of platform pose Scenario (default) | Input port

Sample time (s) — Sample time of simulation 0.1 (default) | positive real scalar

Coordinate system to report platform poses — Coordinate system to report platform poses Cartesian (default) | Geodetic

Output Settings

Include profiles information with platforms — Include profiles information with platforms off (default) | on

Detections — Enable detections output port off (default) | on

Dependencies

Point clouds — Enable port clouds output port off (default) | on

Dependencies

Emissions — Enable emission output port off (default) | on

Dependencies

Enable occlusion in emission propagation — Enable occlusion in emission propagation on (default) | off

Dependencies

Coverage — Enable coverage configurations output port off (default) | on

Dependencies

Sensor — Enable sensor configurations output port off (default) | on

Dependencies

Emitter — Enable emitter configurations output port off (default) | on

Dependencies

Random number generation — Method to generate random number seed Repeatable (default) | Not repeatable | Specify seed

Dependencies

Initial seed — Initial seed for randomization 0 (default) | nonnegative integer

Dependencies

Bus Settings

Source of platform bus name — Source of name for platform poses bus Auto (default) | Property

Specify platform bus name — Specify platform bus name BusPlatforms (default) | valid bus name

Dependencies

Source of maximum number of platforms — Source of maximum number of platforms Auto (default) | Property

Maximum number of platforms — Maximum number of platforms 50 (default) | positive integer

Dependencies

Source of detection bus name — Source of name for detection bus Auto (default) | Property

Dependencies

Specify detection bus name — Specify detection bus name BusDetection (default) | valid bus name

Dependencies

Source of maximum number of detections — Source of maximum number of platforms Auto (default) | Property

Dependencies

Maximum number of detections — Maximum number of detections 50 (default) | positive integer

Dependencies

Source of point cloud bus name — Source of name for point cloud bus Auto (default) | Property

Dependencies

Specify point cloud bus name — Specify point cloud bus name BusPointCloud (default) | valid bus name

Dependencies

Maximum number of lidar sensors — Maximum number of lidar sensors 10 (default) | positive integer

Dependencies

Source of maximum number of lidar sensors — Source of maximum number of lidar sensors Auto (default) | Property

Dependencies

Source of emission bus name — Source of name for emission bus Auto (default) | Property

Dependencies

Specify emission bus name — Specify emission bus name BusEmission (default) | valid bus name

Dependencies

Platform Poses — Platform pose information
Simulink^® bus containing MATLAB^® structure

Platforms — Information of platforms in the scenario
Simulink bus containing MATLAB structure

Simulation Time — Current simulation time
nonnegative scalar

Coverage Configurations — Coverage configurations in the scenario
Simulink bus containing MATLAB structure

Detections — Detection list
Simulink bus containing MATLAB structure

Sensor Configuratons — Sensor configurations in the scenario
Simulink bus containing MATLAB structure

Emissions — Radar and sonar emissions in the scenario
Simulink bus containing MATLAB structure

Emitter Configurations — Emitter configurations in the scenario
Simulink bus containing MATLAB structure

Point Clouds — Point clouds
Simulink bus containing MATLAB structure

Source of scenario — Source of tracking scenario
`trackingScenario` (default) | `Tracking Scenario Designer session file`

Workspace variable name — Workspace variable name
`trackingScenario` variable name

Session file — Session file
`Tracking Scenario Designer` session file name

Source of platform pose — Source of platform pose
`Scenario` (default) | `Input port`

Sample time (s) — Sample time of simulation
`0.1` (default) | positive real scalar

Coordinate system to report platform poses — Coordinate system to report platform poses
`Cartesian` (default) | `Geodetic`

Include profiles information with platforms — Include profiles information with platforms
`off` (default) | `on`

Detections — Enable detections output port
`off` (default) | `on`

Point clouds — Enable port clouds output port
`off` (default) | `on`

Emissions — Enable emission output port
`off` (default) | `on`

Enable occlusion in emission propagation — Enable occlusion in emission propagation
`on` (default) | `off`

Coverage — Enable coverage configurations output port
`off` (default) | `on`

Sensor — Enable sensor configurations output port
`off` (default) | `on`

Emitter — Enable emitter configurations output port
`off` (default) | `on`

Random number generation — Method to generate random number seed
`Repeatable` (default) | `Not repeatable` | `Specify seed`

Initial seed — Initial seed for randomization
`0` (default) | nonnegative integer

Source of platform bus name — Source of name for platform poses bus
`Auto` (default) | `Property`

Specify platform bus name — Specify platform bus name
`BusPlatforms` (default) | valid bus name

Source of maximum number of platforms — Source of maximum number of platforms
`Auto` (default) | `Property`

Maximum number of platforms — Maximum number of platforms
`50` (default) | positive integer

Source of detection bus name — Source of name for detection bus
`Auto` (default) | `Property`

Specify detection bus name — Specify detection bus name
`BusDetection` (default) | valid bus name

Source of maximum number of detections — Source of maximum number of platforms
`Auto` (default) | `Property`

Maximum number of detections — Maximum number of detections
`50` (default) | positive integer

Source of point cloud bus name — Source of name for point cloud bus
`Auto` (default) | `Property`

Specify point cloud bus name — Specify point cloud bus name
`BusPointCloud` (default) | valid bus name

Maximum number of lidar sensors — Maximum number of lidar sensors
`10` (default) | positive integer

Source of maximum number of lidar sensors — Source of maximum number of lidar sensors
`Auto` (default) | `Property`

Source of emission bus name — Source of name for emission bus
`Auto` (default) | `Property`

Specify emission bus name — Specify emission bus name
`BusEmission` (default) | valid bus name

Source of maximum number of emissions — Source of maximum number of emissions
`Auto` (default) | `Property`

Maximum number of emissions — Maximum number of emissions
`50` (default) | positive integer

Source of coverage configuration bus name — Source of name for coverage configuration bus
`Auto` (default) | `Property`

Specify coverage configuration bus name — Specify coverage configuration bus name
`BusCovConf` (default) | valid bus name

Source of sensor configuration bus name — Source of name for sensor configuration bus
`Auto` (default) | `Property`

Specify sensor configuration bus name — Specify sensor configuration bus name
`BusSensorConf` (default) | valid bus name

Source of emitter configuration bus name — Source of name for emitter configuration bus
`Auto` (default) | `Property`

Specify emitter configuration bus name — Specify emitter configuration bus name
`BusEmitterConf` (default) | valid bus name

Source of maximum number of sensors — Source of maximum number of sensors
`Auto` (default) | `Property`

Maximum number of sensors — Maximum number of sensors
`10` (default) | positive integer

Source of maximum number of emitters — Source of maximum number of emitters
`Auto` (default) | `Property`

Maximum number of emitters — Maximum number of emitters
`10` (default) | positive integer