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Creating a Tracking Scenario

You can define a tracking simulation by using the trackingScenario object. By default, the object creates an empty scenario. You can then populate the scenario with platforms by calling the platform method as many times as needed. A platform is an object (moving or stationary), which can either be a sensor, a target, or any other entity. A platform can be modeled as a point or a cuboid by specifying the Dimensions property of Platform. After creating a platform, you can specify the motion of the platform by using its Trajectory property. To configure a trajectory, you can use waypointTrajectory, which allows you to specify the 3-D waypoints that the platform follows and the associated arrival time for each waypoint. Alternately, you can use kinematicTrajectory, which allows you to specify the 3-D acceleration and angular velocity of the platform with initial pose and translational velocity. You can also specify the orientation of a platform using the Orientation property of kinematicTrajectory or waypointTrajectory.

Run the simulation by calling the advance method on the trackingScenario object in a loop, or by calling the record method to run the simulation all at once. You can set the simulation update interval using the UpdateRate property in the trackingScenario object. You can set the properties of a platform or leave them to their default value. You can set them all except for PlatformID. The complete list of Platform properties is shown here.

Platform Properties

PlatformID

Scenario-defined platform ID.

ClassID

User-specified platform classification ID.

Dimensions

3-D dimensions of a cuboid that approximates the size of a platform and offset of the origin of the platform body frame from the center of the cuboid. The default value of Dimensions has all fields equal to zero, which corresponds to a point model.

Trajectory

Platform motion, specified by kinematicTrajecotry or waypointTrajectory.

Signatures

Platform signatures, specified as a cell array of irSignature, rcsSignature, and tsSignature objects. A signature represents the reflection or emission pattern of a platform.

PoseEstimator

A pose estimator, specified as a pose-estimator object such as insSensor (default).

Emitter

Emitters mounted on platform, specified as a cell array of emitter objects, such as radarEmitter or sonarEmitter.

Sensors

Sensors mounted on platform, specified as a cell array of sensor objects such as irSensor or sonarSensor.

At any time during the simulation, you can retrieve the current values of platform properties using the platformPoses and platformProfiles methods of the trackingScenario object. Both the platformPoses and platformProfiles methods return properties of all platforms with respect to the scenario's NED frame. You can also use the pose method of the Platform to return the properties of one specific platform. In addition, the Platform.targetPoses method, while similar, returns properties of other platforms with respect to a specified platform.