platform

Add platform to radar scenario

Since R2021a

Syntax

plat = platform(scenario)

plat = platform(scenario,Name,Value)

Description

plat = platform(scenario) creates a new Platform object, plat, and adds the platform to the radar scenario, scenario.

example

plat = platform(scenario,Name,Value) creates a new Platform object with additional properties specified by one or more name-value arguments.

example

Examples

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Create Platform with Circular Trajectory

Open Live Script

Create a radar scenario.

rs = radarScenario;

Create a platform with default property values and add it to the scenario.

plat = platform(rs);

Specify the trajectory of the platform as a circular path of radius 10 m for one second. This is accomplished by placing waypoints in a circular shape, ensuring that the first and last waypoint are the same.

wpts = [0 10 0; 10 0 0; 0 -10 0; -10 0 0; 0 10 0];
times = [0; 0.25; .5; .75; 1.0];
plat.Trajectory = waypointTrajectory(wpts,times);

Display the properties of the platform object.

plat

plat = 
  Platform with properties:

       PlatformID: 1
          ClassID: 0
         Position: [0 10 0]
      Orientation: [-1.7180e-05 0 0]
       Dimensions: [1x1 struct]
       Trajectory: [1x1 waypointTrajectory]
    PoseEstimator: [1x1 insSensor]
         Emitters: {}
          Sensors: {}
       Signatures: {[1x1 rcsSignature]}

Perform the simulation, advancing one time step at a time. Display the simulation time and the position and velocity of the platform at each time step.

while advance(rs)  
    p = pose(plat);
    disp(strcat("Time = ",num2str(rs.SimulationTime)))
    disp(strcat("  Position = [",num2str(p.Position),"]"))
    disp(strcat("  Velocity = [",num2str(p.Velocity),"]"))
end

Time = 0

  Position = [0  10   0]

  Velocity = [62.8318 -1.88403e-05            0]

Time = 0.1

  Position = [5.8779      8.0902           0]

  Velocity = [50.832     -36.9316            0]

Time = 0.2

  Position = [9.5106      3.0902           0]

  Velocity = [19.4161     -59.7566            0]

Time = 0.3

  Position = [9.5106     -3.0902           0]

  Velocity = [-19.4161     -59.7567            0]

Time = 0.4

  Position = [5.8779     -8.0902           0]

  Velocity = [-50.832     -36.9316            0]

Time = 0.5

  Position = [0 -10   0]

  Velocity = [-62.8319  1.88181e-05            0]

Time = 0.6

  Position = [-5.8779     -8.0902           0]

  Velocity = [-50.832      36.9316            0]

Time = 0.7

  Position = [-9.5106     -3.0902           0]

  Velocity = [-19.4161      59.7566            0]

Time = 0.8

  Position = [-9.5106      3.0902           0]

  Velocity = [19.4161      59.7566            0]

Time = 0.9

  Position = [-5.8779      8.0902           0]

  Velocity = [50.832      36.9316            0]

Time = 1

  Position = [-7.10543e-15           10            0]

  Velocity = [62.8319 -1.88404e-05            0]

Create Cuboid Platforms with Circular Trajectory

Open Live Script

Create a radar scenario.

rs = radarScenario;

Create a cuboid platform for a truck with dimensions 5 m by 2.5 m by 3.5 m.

dim1 = struct('Length',5,'Width',2.5,'Height',3.5,'OriginOffset',[0 0 0]);
truck = platform(rs,'Dimension',dim1);

Specify the trajectory of the truck as a circle with radius 20 m.

truck.Trajectory = waypointTrajectory('Waypoints', ...
    [20*cos(2*pi*(0:10)'/10) 20*sin(2*pi*(0:10)'/10) -1.75*ones(11,1)], ...
    'TimeOfArrival',linspace(0,50,11)');

Create the platform for a small quadcopter with dimensions 0.3 m by 0.3 m by 0.1 m.

dim2 = struct('Length',.3,'Width',.3,'Height',.1,'OriginOffset',[0 0 0]);
quad = platform(rs,'Dimension',dim2);

Specify the trajectory of the quadcopter as a circle 10 m above the truck with a small angular delay. Note that the negative z coordinates correspond to positive elevation.

quad.Trajectory = waypointTrajectory('Waypoints', ...
    [20*cos(2*pi*((0:10)'-.6)/10) 20*sin(2*pi*((0:10)'-.6)/10) -11.80*ones(11,1)], ...
    'TimeOfArrival',linspace(0,50,11)');

Visualize the results using theaterPlot.

tp = theaterPlot('XLim',[-30 30],'YLim',[-30 30],'Zlim',[-12 5]);
pp1 = platformPlotter(tp,'DisplayName','truck','Marker','s');
pp2 = platformPlotter(tp,'DisplayName','quadcopter','Marker','o');

Specify a view direction and run the simulation.

view(-28,37);
set(gca,'Zdir','reverse');

while advance(rs)
    poses = platformPoses(rs);
    plotPlatform(pp1,poses(1).Position,truck.Dimensions,poses(1).Orientation);
    plotPlatform(pp2,poses(2).Position,quad.Dimensions,poses(2).Orientation);
end

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) contains 2 objects of type line. One or more of the lines displays its values using only markers These objects represent truck, quadcopter.

Input Arguments

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`scenario` — Radar scenario
`radarScenario` object

Radar scenario, specified as a radarScenario object.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: 'ClassID',2

`ClassID` — Platform classification identifier
`0` (default) | nonnegative integer

Platform classification identifier, specified as a nonnegative integer. You can define your own platform classification scheme and assign ClassID values to platforms according to the scheme. The value of 0 is reserved for an object of unknown or unassigned class.

Example: 5

Data Types: double

`Trajectory` — Platform motion
`kinematicTrajectory` object | `waypointTrajectory` object | `geoTrajectory` object

Platform motion, specified as a kinematicTrajectory object, a waypointTrajectory object, or a geoTrajectory object. The trajectory object defines the time evolution of the position and velocity of the platform frame origin, as well as the orientation of the platform frame relative to the scenario frame.

When the IsEarthCentered property of the scenario is set to false, use the kinematicTrajectory or the waypointTrajectory object. By default, the platform uses a stationary kinematicTrajectory object.
When the IsEarthCentered property of the scenario is set to true, use the geoTrajectory object. By default, the platform uses a stationary geoTrajectory object.

`Position` — Position of platform
three-element vector of scalars

This property is read-only.

Current position of the platform, specified as a three-element vector of scalars.

When the IsEarthCentered property of the scenario is set to false, the position is specified as a three-element Cartesian state [x, y, z] in meters.
When the IsEarthCentered property of the scenario is set to true, the position is specified as a three-element geodetic state: latitude in degrees, longitude in degrees, and altitude in meters.

Specify this argument only when creating a stationary platform. If you choose to specify the trajectory of the platform, use the Trajectory argument.

Data Types: double

`Orientation` — Orientation of platform
three-element numeric vector

This property is read-only.

Orientation of the platform, specified as a three-element numeric vector in degrees. The three elements are the [yaw, pitch, roll] rotation angles from the local reference frame to the body frame of the platform.

Specify this argument only when creating a stationary platform. If you choose to specify the orientation over time, use the Trajectory argument.

Data Types: double

`Signatures` — Platform signatures
cell array of signature objects | `{}`

Platform signatures, specified as a cell array of signature objects or an empty cell array ({}). The default value is a cell array containing an rcsSignature object with default property values. If you have Sensor Fusion and Tracking Toolbox™, then the cell array can also include irSignature (Sensor Fusion and Tracking Toolbox) and tsSignature (Sensor Fusion and Tracking Toolbox) objects. The cell array contains at most one instance for each type of signature object. A signature represents the reflection or emission pattern of a platform such as its radar cross-section, target strength, or IR intensity.

`Dimensions` — Platform dimensions and origin offset
`struct('Length',0,'Width',0,'Height',0,'OriginOffset',[0 0 0])` | structure

Platform dimensions and origin offset, specified 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. The OriginOffset is expressed in the platform coordinate system. For example, if the platform origin is at the center of the cuboid rear face as shown in the figure, then set OriginOffset as [-L/2, 0, 0]. The default value for Dimensions is a structure with all fields set to zero, which corresponds to a point model.

Platform depicted as a cuboid whose center is offset from the center of the platform frame coordinate system

Fields of Dimensions

Fields	Description	Default
`Length`	Dimension of a cuboid along the x direction	`0`
`Width`	Dimension of a cuboid along the y direction	`0`
`Height`	Dimension of a cuboid along the z direction	`0`
`OriginOffset`	Position of the platform coordinate frame origin with respect to the cuboid center	`[0 0 0 ]`

Example: struct('Length',5,'Width',2.5,'Height',3.5,'OriginOffset',[-2.5 0 0])

For the radarTransceiver platform Length, Width, and Height can be set to any non-negative values when used in a radarScenario.
For the radarDataGenerator, platform Length, Width, and Height are ignored if set to non-zero values in a radarScenario. All platforms are considered points.

Data Types: struct

`PoseEstimator` — Platform pose estimator
`insSensor` object (default) | pose estimator object

Platform pose estimator, specified as a pose-estimator object such as an insSensor object. The pose estimator determines platform pose with respect to the local NED scenario coordinates. The interface of any pose estimator must match the interface of the insSensor object. By default, the platform sets the pose estimator accuracy properties to zero.

`Emitters` — Emitters mounted on platform
cell array of emitter objects

Emitters mounted on the platform, specified as a cell array of emitter objects such as radarEmitter objects. If you have Sensor Fusion and Tracking Toolbox, then the cell array can also include sonarEmitter (Sensor Fusion and Tracking Toolbox) objects.

`Sensors` — Sensors mounted on platform
cell array of sensor objects

Sensors mounted on the platform, specified as a cell array of sensor objects such as radarDataGenerator objects.

Output Arguments

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`plat` — Scenario platform
`Platform` object

Scenario platform, returned as a Platform object.

Version History

Introduced in R2021a

platform

Syntax

Description

Examples

Create Platform with Circular Trajectory

Create Cuboid Platforms with Circular Trajectory

Input Arguments

scenario — Radar scenario radarScenario object

Name-Value Arguments

ClassID — Platform classification identifier 0 (default) | nonnegative integer

Trajectory — Platform motion kinematicTrajectory object | waypointTrajectory object | geoTrajectory object

Position — Position of platform three-element vector of scalars

Orientation — Orientation of platform three-element numeric vector

Signatures — Platform signatures cell array of signature objects | {}

Dimensions — Platform dimensions and origin offset struct('Length',0,'Width',0,'Height',0,'OriginOffset',[0 0 0]) | structure

PoseEstimator — Platform pose estimator insSensor object (default) | pose estimator object

Emitters — Emitters mounted on platform cell array of emitter objects

Sensors — Sensors mounted on platform cell array of sensor objects

Output Arguments

plat — Scenario platform Platform object

Version History

See Also

`scenario` — Radar scenario
`radarScenario` object

`ClassID` — Platform classification identifier
`0` (default) | nonnegative integer

`Trajectory` — Platform motion
`kinematicTrajectory` object | `waypointTrajectory` object | `geoTrajectory` object

`Position` — Position of platform
three-element vector of scalars

`Orientation` — Orientation of platform
three-element numeric vector

`Signatures` — Platform signatures
cell array of signature objects | `{}`

`Dimensions` — Platform dimensions and origin offset
`struct('Length',0,'Width',0,'Height',0,'OriginOffset',[0 0 0])` | structure

`PoseEstimator` — Platform pose estimator
`insSensor` object (default) | pose estimator object

`Emitters` — Emitters mounted on platform
cell array of emitter objects

`Sensors` — Sensors mounted on platform
cell array of sensor objects

`plat` — Scenario platform
`Platform` object