Simulation 3D Camera gimbal in UAV Toolbox

Hello,

I am using the Scenario Simulation blocks to implement an autonomous mission for fixed-wing UAVs, with the possibility of including Computer Vision. I would like to know if there is a possibility to implement a gimbal for the Simulation 3D Camera, since I want a steady image during turns.

Thank you in advance.

Answer 1

[Jianxin Sun]

Hi Arnau,

You can refer to the Simulation 3D Camera documentation https://www.mathworks.com/help/uav/ref/simulation3dcamera.html.

The relative translation and relative rotation parameters can be adjusted during simulation to simulate gimbal. You will need to compute the necessary relative rotation during simulation that will point camera towards the object based on the position of the UAV and position of the object.

Thanks,

Jianxin

[泽凯]

Hello Jianxin,

I have the same problem when I use Simulation 3D Lidar, however this block doesn't have relative rotation input port, how can I solve it?

[Jianxin Sun]

These parameters should be available in 2024b MATLAB release. If you are using older releases, you could consider add a small simulation 3d actor (https://www.mathworks.com/help/sl3d/simulation3dactor.html) and mount the lidar to the actor. Then computed the complete transform from the sensor to the Unreal reference frame and send it to the actor.

[泽凯]

hello Jianxin Sun,

I have downloaded the 2024b MATLAB release, but I don't see the relative rotation input port in the Simulation 3D Lidar.