perturb

Apply perturbations to tracking scenario

Since R2020b

Syntax

offsets = perturb(scene)

Description

offsets = perturb(scene) perturbs the baseline tracking scenario, scene, according to the perturbations defined on objects (such as trajectories, sensors, and platforms) in the scene and returns offset values. Use the perturbations function to define property perturbations on each object.

Examples

Tracking Scenario Perturbation

Create a tracking scenario and add a platform.

scenario = trackingScenario;
p = platform(scenario); 

Add a trajectory to the platform.

p.Trajectory = waypointTrajectory('Waypoints',...
    [30 -40 -3; 30 -20 -3; 20 -10 -3; 0 -10 -3; -10 -10 -3]*1e3, ...
    'TimeOfArrival', [0; 100; 150; 350; 450], ... 
    'Course', [90;90;180;180;180]); 

Plot the trajectory.

tp = theaterPlot("XLimits",[-20 35]*1e3,"YLimits",[-45 -5]*1e3);
trajPlotter1 = trajectoryPlotter(tp,'DisplayName','Original','Color','b');
plotTrajectory(trajPlotter1,{p.Trajectory.Waypoints});

Define perturbations for the waypoints. The following defines perturbations on the first and last waypoints as uniform distributions.

perturbations(p.Trajectory, "Waypoints", "Uniform",...
    [-2000 -2000 0; 0 0 0; 0 0 0; 0 0 0; -2000 -2000 0],...
    [+2000 +2000 0; 0 0 0; 0 0 0; 0 0 0; +2000 +2000 0]);

Perturb the scenario and observe the changed waypoints of the platform.

perturb(scenario);
trajPlotter2 = trajectoryPlotter(tp,'DisplayName','Perturbed','Color','g');
plotTrajectory(trajPlotter2,{p.Trajectory.Waypoints})

Input Arguments

scene — Tracking scenario

trackingScenario object

Tracking scenario, specified as a trackingScenario object.

Output Arguments

offsets — Property offsets

array of structure

Property offsets, returned as an array of structures. Each structure contains these fields:

Field Name	Description
PlatformID	ID of the platform
PeturbedObject	Perturbed object mounted on the platform
Property	Name of perturbed property
Offset	Offset values applied in the perturbation
PerturbedValue	Property values after the perturbation

Version History

Introduced in R2020b