RangeAndRangeRateModel

Range and range rate measurement model

Since R2025a

Description

A RangeAndRangeRateModel object contains a measurement model that measures range and range rate to the target. The measurement convention is: measurement = [range;range-rate]. You can use this model to define the measurement model for a CustomSensor object.

Creation

To create an RangeAndRangeRateModel object, use the sensorMeasurementModel function with the "range-rangerate" input argument. For example:

measurementModel = sensorMeasurementModel("range-rangerate")

Properties

OriginPosition — Position of sensor with respect to target state reference frame

[0;0;0] (default) | 3-by-1 real column vector | 3-by-N real matrix

Position of the sensor with respect to the target state reference frame, specified as a 3-by-1 real column vector or a 3-by-N real matrix. Units are in meters.

• When specified as a 3-by-1 real column vector, OriginPosition takes the form [x;y;z].

• When specified as a 3-by-N real matrix, OriginPosition represents sequential frames. For example, if the sensor is mounted on a tower, and you know both the sensor's mounting position relative to the tower and the tower's position relative to the target frame, you can specify OriginPosition as [sensorMounting towerPosition], where sensorMounting is the sensor's mounting position relative to the tower and towerPosition is the tower's position relative to the target state's reference frame. The number of the frame, N, must be consistent across the OriginPosition and Orientation properties.

Example: [15 20 40]

Orientation — Orientation of sensor with respect to target state reference frame

eye(3) (default) | 3-by-3 real matrix | 3-by-3-by-N real matrix

Orientation of the sensor with respect to the target state reference frame, specified as a 3-by-3 real matrix or a 3-by-3-by-N real matrix. Units are in degrees.

• When specified as a 3-by-3 real matrix, the Orientation represents the sensor's orientation relative to the target state reference frame.

• When specified as a 3-by-3-by-N real matrix, the Orientation represents sequential frames. For example, if the sensor is mounted on a tower, and you know both the sensor's mounting orientation relative to the tower and the tower's orientation relative to the target frame, you can specify Orientation as cat(3,sensorMountingOrientation,towerOrientation), where sensorMountingOrientation is the sensor's orientation relative to the tower and towerOrientation is the tower's orientation relative to the target state's reference frame. The number of the frame, N, must be consistent across the OriginPosition and Orientation properties.

OriginVelocity — Velocity of sensor with respect to target state reference frame

[0;0;0] (default) | 3-by-1 real column vector | 3-by-N real matrix

Velocity of the sensor with respect to the target state reference frame, specified as a 3-by-1 real column vector or a 3-by-N real matrix. Units are in meters per second.

• When specified as a 3-by-1 real column vector, OriginVelocity takes the form [vx;vy;vz].

• When specified as a 3-by-N real matrix, OriginVelocity represents sequential frames. For example, if the sensor is mounted on a plane, and you know both the sensor's mounting velocity relative to the plane and the plane's velocity relative to the target frame, you can specify OriginVelocity as [sensorMountingVelocity planeVelocity], where sensorMountingVelocity is the sensor's mounting velocity relative to the plane and towerPosition is the plane's position velocity to the target state's reference frame. The number of the frame, N, must be consistent across the OriginPosition, OriginVelocity, and Orientation properties.

Example: [1.5 1 4]

RangeVariance — Variance of error in range measurement

1 (default) | scalar

Variance of error in the range measurement, specified as a scalar. Units are in meters squared.

Example: 2

RangeRateVariance — Variance of error in range rate measurement

1 (default) | scalar

Variance of error in the range rate measurement, specified as a scalar. Units are in meters squared per second squared.

Example: 2

Version History

Introduced in R2025a