AerospaceAngleOnlyIR

Sensor specification for infrared sensor that reports angle-only measurements

Since R2024b

Description

The AerospaceAngleOnlyIR object contains a sensor specification for an infrared sensor that reports angle-only measurements. You can use the AerospaceAngleOnlyIR object as an input to multiSensorTargetTracker.

Creation

To create an AerospaceAngleOnlyIR object, use the trackerSensorSpec function with the "aerospace", "infrared", and "angle-only" input arguments. For example:

spec = trackerSensorSpec("aerospace","infrared","angle-only")

Properties

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: 40

Data Types: single | double

MaxNumMeasurementsPerUpdate — Maximum number of measurements per update

10 (default) | positive integer

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

Example: 10

Data Types: single | double

IsPlatformStationary — Enable stationary mounting platform

true (default) | false

Enable 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 — Enable sensor to report target elevation

true (default) | false

Enable 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

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).

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

Usage notes and limitations:

To generate code, you must set the following nontunable properties before setting any other property.

• HasElevation

Version History

Introduced in R2024b