Документация

% Create tracking scenario
scenario = trackingScenario;

% Add a stationary platform to model the ATC tower
tower = platform(scenario);

rpm = 12.5;
fov = [1.4;10];
scanrate = rpm*360/60;  % deg/s
updaterate = scanrate/fov(1); % Hz

radar = monostaticRadarSensor(1, 'Rotator', ...
    'UpdateRate', updaterate, ...           % Hz
    'FieldOfView', fov, ...                 % [az;el] deg
    'MaxMechanicalScanRate', scanrate, ...  % deg/sec
    'AzimuthResolution', fov(1), ...        % deg
    'ReferenceRange', 111e3, ...            % m
    'ReferenceRCS', 0, ...                  % dBsm
    'RangeResolution', 135, ...             % m
    'HasINS', true, ...
    'DetectionCoordinates', 'Scenario');

% Mount radar at the top of the tower
radar.MountingLocation = [0 0 -15];
tower.Sensors = radar;

% Enable elevation scanning
radar.HasElevation = true;

% Set mechanical elevation scan to begin at 2 degrees above the horizon
elFov = fov(2);
tilt = 2; % deg
radar.MechanicalScanLimits(2,:) = [-fov(2) 0]-tilt; % deg

radar.FieldOfView(2) = elFov+1e-3;

% Duration of scenario
sceneDuration = 60; % s

% Inbound airliner
ht = 3e3;
spd = 900*1e3/3600; % m/s
wp = [-5e3 -40e3 -ht;-5e3 -40e3+spd*sceneDuration -ht];
traj = waypointTrajectory('Waypoints',wp,'TimeOfArrival',[0 sceneDuration]);
platform(scenario,'Trajectory', traj);

% Outbound airliner
ht = 4e3;
spd = 700*1e3/3600; % m/s
wp = [20e3 10e3 -ht;20e3+spd*sceneDuration 10e3 -ht];
traj = waypointTrajectory('Waypoints',wp,'TimeOfArrival',[0 sceneDuration]);
platform(scenario,'Trajectory', traj);

% Tangential airliner
ht = 4e3;
spd = 300*1e3/3600; % m/s
wp = [-20e3 -spd*sceneDuration/2 -ht;-20e3 spd*sceneDuration/2 -ht];
traj = waypointTrajectory('Waypoints',wp,'TimeOfArrival',[0 sceneDuration]);
platform(scenario,'Trajectory', traj);

% Create a display to show the true, measured, and tracked positions of the
% airliners.
[theater,fig] = helperATCExample('Create Display',scenario,tower,radar);
helperATCExample('Update Display',theater,scenario,tower,radar);

tracker = trackerGNN( ...
    'Assignment', 'Auction', ...
    'AssignmentThreshold',50, ...
    'FilterInitializationFcn',@initFilter);

% Set simulation to advance at the update rate of the radar
scenario.UpdateRate = radar.UpdateRate;

% Create a buffer to collect the detections from a full scan of the radar
scanBuffer = {};

% Initialize the track array
tracks = [];

% Set random seed for repeatable results
rng(2018)

while advance(scenario) && ishghandle(fig)

    % Current simulation time
    simTime = scenario.SimulationTime;

    % Target poses in the ATC's coordinate frame
    targets = targetPoses(tower);

    % Use the tower's true position as its INS measurement
    ins = pose(tower, 'true');

    % Generate detections on target's in the radar's current field of view
    [dets,~,config] = radar(targets,ins,simTime);

    scanBuffer = [scanBuffer;dets]; %#ok<AGROW>

    % Update tracks when a 360 degree scan is complete
    if config.IsScanDone
        % Update tracker
        tracks = tracker(scanBuffer,simTime);

        % Clear scan buffer for next scan
        scanBuffer = {};
    elseif isLocked(tracker)
        % Predict tracks to the current simulation time
        tracks = predictTracksToTime(tracker,'confirmed',simTime);
    end

    % Update display with current beam position, buffered detections, and
    % track positions
    helperATCExample('Take Snapshots',fig,scenario,config);
    helperATCExample('Update Display',theater,scenario,tower,radar,scanBuffer,tracks);
    helperATCExample('Take Snapshots',fig,scenario,config);

end
helperATCExample('Take Snapshots',fig,scenario,config);

helperATCExample('Show Snapshots',1);

helperATCExample('Show Snapshots',[2 3]);

helperATCExample('Show Snapshots',[4 5]);

helperATCExample('Show Snapshots',6);

truthTrackTable = tabulateData(scenario, tracks) %#ok<NOPTS>

axis square
view(50,10)
xlim([-25 35])
ylim([-40 20])
zlim([-6 0])

helperATCExample('geoPlotTracks','ATCExample.mat');

function filter = initFilter(detection)
filter = initcvekf(detection);
classToUse = class(filter.StateCovariance);

% Airliners can move at speeds around 900 km/h. The velocity is
% initialized to 0, but will need to be able to quickly adapt to
% aircraft moving at these speeds. Use 900 km/h as 1 standard deviation
% for the initialized track's velocity noise.
spd = 900*1e3/3600; % m/s
velCov = cast(spd^2,classToUse);
cov = filter.StateCovariance;
cov(2,2) = velCov;
cov(4,4) = velCov;
filter.StateCovariance = cov;

% Set filter's process noise to match filter's update rate
scaleAccelHorz = cast(1,classToUse);
scaleAccelVert = cast(1,classToUse);
Q = blkdiag(scaleAccelHorz^2, scaleAccelHorz^2, scaleAccelVert^2);
filter.ProcessNoise = Q;
end

function truthTrackTable = tabulateData(scenario, tracks)
% Process truth data
platforms = scenario.Platforms(2:end); % Platform 1 is the radar
numPlats = numel(platforms);
trueAlt = zeros(numPlats,1);
trueSpd = zeros(numPlats,1);
trueHea = zeros(numPlats,1);
for i = 1:numPlats
    traj = platforms{i}.Trajectory;
    waypoints = waypointInfo(traj);
    times = waypoints.TimeOfArrival;
    waypoints = waypoints.Waypoints;
    trueAlt(i) = -waypoints(end,3);
    trueVel = (waypoints(end,:) - waypoints(end-1,:)) / (times(end)-times(end-1));
    trueSpd(i) = norm(trueVel) * 3600 / 1000; % Convert to km/h
    trueHea(i) = atan2d(trueVel(1),trueVel(2));
end
trueHea = mod(trueHea,360);

% Associate tracks with targets
atts = [tracks.ObjectAttributes];
tgtInds = [atts.TargetIndex];

% Process tracks assuming a constant velocity model
numTrks = numel(tracks);
estAlt = zeros(numTrks,1);
estSpd = zeros(numTrks,1);
estHea = zeros(numTrks,1);
truthTrack = zeros(numTrks,7);
for i = 1:numTrks
    estAlt(i) = -round(tracks(i).State(5));
    estSpd(i) = round(norm(tracks(i).State(2:2:6)) * 3600 / 1000); % Convert to km/h;
    estHea(i) = round(atan2d(tracks(i).State(2),tracks(i).State(4)));
    estHea(i) = mod(estHea(i),360);
    platID = tgtInds(i);
    platInd = platID - 1;
    truthTrack(i,:) = [tracks(i).TrackID, trueAlt(platInd), estAlt(i), trueHea(platInd), estHea(i), ...
        trueSpd(platInd), estSpd(i)];
end

% Organize the data in a table
names = {'TrackID','TrueAlt','EstimatedAlt','TrueHea','EstimatedHea','TrueSpd','EstimatedSpd'};
truthTrackTable = array2table(truthTrack,'VariableNames',names);
truthTrackTable = mergevars(truthTrackTable, (6:7), 'NewVariableName', 'Speed', 'MergeAsTable', true);
truthTrackTable.(6).Properties.VariableNames = {'True','Estimated'};
truthTrackTable = mergevars(truthTrackTable, (4:5), 'NewVariableName', 'Heading', 'MergeAsTable', true);
truthTrackTable.(4).Properties.VariableNames = {'True','Estimated'};
truthTrackTable = mergevars(truthTrackTable, (2:3), 'NewVariableName', 'Altitude', 'MergeAsTable', true);
truthTrackTable.(2).Properties.VariableNames = {'True','Estimated'};
truthTrackTable.TrackID = "T" + string(truthTrackTable.TrackID);
end