tunableFilterProperties

Definition of tunable properties of filter

Since R2022b

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Description

The tunableFilterProperties object defines the tunable properties of a tracking filter object. To specify the properties to tune and how to tune them, use the setPropertyTunability object function. To tune the filter, create a trackingFilterTuner object and use the tune object function.

Creation

Create a tunableFilterProperties object by using the tunableProperties object function of a tunable tracking filter. The tunable tracking filters are:

Object Functions

setPropertyTunabilityModify property tunability

Examples

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Open Live Script

Create a trackingEKF object using the initcvekf function.

filter = initcvekf(objectDetection(0,[0;0;0]));

Obtain the tunable properties of the filter using the tunableProperties object function.

tps = tunableProperties(filter)
tps = 
Tunable properties for object of type: trackingEKF

Property:      ProcessNoise
   PropertyValue:   [1 0 0;0 1 0;0 0 1]
   TunedQuantity:   Square root
   IsTuned:         true
       TunedQuantityValue:  [1 0 0;0 1 0;0 0 1]
       TunableElements:     [1 4 5 7 8 9]
       LowerBound:          [0 0 0 0 0 0]
       UpperBound:          [10 10 10 10 10 10]
Property:      StateCovariance
   PropertyValue:   [1 0 0 0 0 0;0 100 0 0 0 0;0 0 1 0 0 0;0 0 0 100 0 0;0 0 0 0 1 0;0 0 0 0 0 100]
   TunedQuantity:   Square root of initial value
   IsTuned:         false

From the display, the ProcessNoise property is tuned and the StateCovariance property is not tuned by default.

Set the StateCovariance property as tuned. 

setPropertyTunability(tps,"StateCovariance",IsTuned=true);
disp(tps);
Tunable properties for object of type: trackingEKF

Property:      ProcessNoise
   PropertyValue:   [1 0 0;0 1 0;0 0 1]
   TunedQuantity:   Square root
   IsTuned:         true
       TunedQuantityValue:  [1 0 0;0 1 0;0 0 1]
       TunableElements:     [1 4 5 7 8 9]
       LowerBound:          [0 0 0 0 0 0]
       UpperBound:          [10 10 10 10 10 10]
Property:      StateCovariance
   PropertyValue:   [1 0 0 0 0 0;0 100 0 0 0 0;0 0 1 0 0 0;0 0 0 100 0 0;0 0 0 0 1 0;0 0 0 0 0 100]
   TunedQuantity:   Square root of initial value
   IsTuned:         true
       TunedQuantityValue:  [1 0 0 0 0 0;0 10 0 0 0 0;0 0 1 0 0 0;0 0 0 10 0 0;0 0 0 0 1 0;0 0 0 0 0 10]
       TunableElements:     [1 7 8 13 14 15 19 20 21 22 25 26 27 28 29 31 32 33 34 35 36]
       LowerBound:          [0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0]
       UpperBound:          [100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100 100]

Set the tuned elements for the process noise matrix as the diagonal elements with specified bounds. Also, set the tuned elements for the state covariance matrix as the diagonal elements with specified bounds.

setPropertyTunability(tps,"ProcessNoise",TunableElements=sub2ind([3,3],[1 2 3],[1 2 3]), ...
    LowerBound=[0 0 0],UpperBound=[10 10 10]);
setPropertyTunability(tps,"StateCovariance",TunableElements=sub2ind([6,6],1:6,1:6), ...
    LowerBound=zeros(1,6),UpperBound=100*ones(1,6));
disp(tps)
Tunable properties for object of type: trackingEKF

Property:      ProcessNoise
   PropertyValue:   [1 0 0;0 1 0;0 0 1]
   TunedQuantity:   Square root
   IsTuned:         true
       TunedQuantityValue:  [1 0 0;0 1 0;0 0 1]
       TunableElements:     [1 5 9]
       LowerBound:          [0 0 0]
       UpperBound:          [10 10 10]
Property:      StateCovariance
   PropertyValue:   [1 0 0 0 0 0;0 100 0 0 0 0;0 0 1 0 0 0;0 0 0 100 0 0;0 0 0 0 1 0;0 0 0 0 0 100]
   TunedQuantity:   Square root of initial value
   IsTuned:         true
       TunedQuantityValue:  [1 0 0 0 0 0;0 10 0 0 0 0;0 0 1 0 0 0;0 0 0 10 0 0;0 0 0 0 1 0;0 0 0 0 0 10]
       TunableElements:     [1 8 15 22 29 36]
       LowerBound:          [0 0 0 0 0 0]
       UpperBound:          [100 100 100 100 100 100]
Open Live Script

Create a trackingUKF object using the initcvukf function.

filter = initcvukf(objectDetection(0,[0;0;0]));

Obtain the tunable properties of the filter using the tuanbleProperties object function.

tps = tunableProperties(filter)
tps = 
Tunable properties for object of type: trackingUKF

Property:      ProcessNoise
   PropertyValue:   [1 0 0;0 1 0;0 0 1]
   TunedQuantity:   Square root
   IsTuned:         true
       TunedQuantityValue:  [1 0 0;0 1 0;0 0 1]
       TunableElements:     [1 4 5 7 8 9]
       LowerBound:          [0 0 0 0 0 0]
       UpperBound:          [10 10 10 10 10 10]
Property:      StateCovariance
   PropertyValue:   [1 0 0 0 0 0;0 100 0 0 0 0;0 0 1 0 0 0;0 0 0 100 0 0;0 0 0 0 1 0;0 0 0 0 0 100]
   TunedQuantity:   Square root of initial value
   IsTuned:         false
Property:      Alpha
   PropertyValue:   0.001
   TunedQuantity:   Value
   IsTuned:         true
       TunedQuantityValue:  0.001
       TunableElements:     1
       LowerBound:          1e-05
       UpperBound:          1
Property:      Beta
   PropertyValue:   2
   TunedQuantity:   Value
   IsTuned:         false
Property:      Kappa
   PropertyValue:   0
   TunedQuantity:   Value
   IsTuned:         false

From the display, the ProcessNoise property is tuned and the StateCovariance property is not tuned by default.

Set the Beta property as tuned. 

setPropertyTunability(tps,"Beta",IsTuned=true);
disp(tps);
Tunable properties for object of type: trackingUKF

Property:      ProcessNoise
   PropertyValue:   [1 0 0;0 1 0;0 0 1]
   TunedQuantity:   Square root
   IsTuned:         true
       TunedQuantityValue:  [1 0 0;0 1 0;0 0 1]
       TunableElements:     [1 4 5 7 8 9]
       LowerBound:          [0 0 0 0 0 0]
       UpperBound:          [10 10 10 10 10 10]
Property:      StateCovariance
   PropertyValue:   [1 0 0 0 0 0;0 100 0 0 0 0;0 0 1 0 0 0;0 0 0 100 0 0;0 0 0 0 1 0;0 0 0 0 0 100]
   TunedQuantity:   Square root of initial value
   IsTuned:         false
Property:      Alpha
   PropertyValue:   0.001
   TunedQuantity:   Value
   IsTuned:         true
       TunedQuantityValue:  0.001
       TunableElements:     1
       LowerBound:          1e-05
       UpperBound:          1
Property:      Beta
   PropertyValue:   2
   TunedQuantity:   Value
   IsTuned:         true
       TunedQuantityValue:  2
       TunableElements:     1
       LowerBound:          0
       UpperBound:          Inf
Property:      Kappa
   PropertyValue:   0
   TunedQuantity:   Value
   IsTuned:         false

Set the tuned elements for the process noise matrix as the diagonal elements with specified bounds.

setPropertyTunability(tps,"ProcessNoise",TunableElements=sub2ind([3,3],[1 2 3],[1 2 3]), ...
    LowerBound=[0 0 0],UpperBound=[10 10 10]);
disp(tps)
Tunable properties for object of type: trackingUKF

Property:      ProcessNoise
   PropertyValue:   [1 0 0;0 1 0;0 0 1]
   TunedQuantity:   Square root
   IsTuned:         true
       TunedQuantityValue:  [1 0 0;0 1 0;0 0 1]
       TunableElements:     [1 5 9]
       LowerBound:          [0 0 0]
       UpperBound:          [10 10 10]
Property:      StateCovariance
   PropertyValue:   [1 0 0 0 0 0;0 100 0 0 0 0;0 0 1 0 0 0;0 0 0 100 0 0;0 0 0 0 1 0;0 0 0 0 0 100]
   TunedQuantity:   Square root of initial value
   IsTuned:         false
Property:      Alpha
   PropertyValue:   0.001
   TunedQuantity:   Value
   IsTuned:         true
       TunedQuantityValue:  0.001
       TunableElements:     1
       LowerBound:          1e-05
       UpperBound:          1
Property:      Beta
   PropertyValue:   2
   TunedQuantity:   Value
   IsTuned:         true
       TunedQuantityValue:  2
       TunableElements:     1
       LowerBound:          0
       UpperBound:          Inf
Property:      Kappa
   PropertyValue:   0
   TunedQuantity:   Value
   IsTuned:         false
Open Live Script

Create a trackingIMM object using the initekfimm function.

filter = initekfimm(objectDetection(0,[0;0;0]));

Obtain the tunable properties of the filter using the tuanbleProperties object function.

tps = tunableProperties(filter)
tps = 
Tunable properties for object of type: trackingIMM

Property:      TransitionProbabilities
   PropertyValue:   [0.9 0.05 0.05;0.05 0.9 0.05;0.05 0.05 0.9]
   TunedQuantity:   Rows sum to one
   IsTuned:         true
       TunedQuantityValue:  [0.9 0.05 0.05;0.05 0.9 0.05;0.05 0.05 0.9]
       TunableElements:     [1 2 3 4 5 6 7 8 9]
       LowerBound:          [0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001]
       UpperBound:          [1 1 1 1 1 1 1 1 1]
Property:      ModelProbabilities
   PropertyValue:   [0.333333333333333;0.333333333333333;0.333333333333333]
   TunedQuantity:   Columns sum to one
   IsTuned:         true
       TunedQuantityValue:  [0.333333333333333;0.333333333333333;0.333333333333333]
       TunableElements:     [1 2 3]
       LowerBound:          [0.001 0.001 0.001]
       UpperBound:          [1 1 1]

The filter contains 3 tracking filters
   Show tunable properties for filter 1
   Show tunable properties for filter 2
   Show tunable properties for filter 3

Set the ModelProbabilities property to untuned. 

setPropertyTunability(tps,"ModelProbabilities",IsTuned=false);
disp(tps);
Tunable properties for object of type: trackingIMM

Property:      TransitionProbabilities
   PropertyValue:   [0.9 0.05 0.05;0.05 0.9 0.05;0.05 0.05 0.9]
   TunedQuantity:   Rows sum to one
   IsTuned:         true
       TunedQuantityValue:  [0.9 0.05 0.05;0.05 0.9 0.05;0.05 0.05 0.9]
       TunableElements:     [1 2 3 4 5 6 7 8 9]
       LowerBound:          [0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001 0.001]
       UpperBound:          [1 1 1 1 1 1 1 1 1]
Property:      ModelProbabilities
   PropertyValue:   [0.333333333333333;0.333333333333333;0.333333333333333]
   TunedQuantity:   Columns sum to one
   IsTuned:         false

The filter contains 3 tracking filters
   Show tunable properties for filter 1
   Show tunable properties for filter 2
   Show tunable properties for filter 3

Set the tuned elements for the process noise matrices in the three trackingEKF objects. In this example, set the tunable elements as the diagonal elements with specified bounds.

setPropertyTunability(tps,"ProcessNoise",FilterIndex=1,TunableElements=sub2ind([3,3],[1 2 3],[1 2 3]), ...
    LowerBound=[0 0 0],UpperBound=[10 10 10]);
setPropertyTunability(tps,"ProcessNoise",FilterIndex=2,TunableElements=sub2ind([3,3],[1 2 3],[1 2 3]), ...
    LowerBound=[0 0 0],UpperBound=[10 10 10]);
setPropertyTunability(tps,"ProcessNoise",FilterIndex=3,TunableElements=sub2ind([3,3],[1 2 3],[1 2 3]), ...
    LowerBound=[0 0 0],UpperBound=[10 10 10]);

Version History

Introduced in R2022b

See Also

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