detect

Collect detections from all the sensors in tracking scenario

Since R2020a

Syntax

detections = detect(sc)

detections = detect(sc,signals)

detections = detect(sc,signals,configs)

[detections,sensorConfigs] = detect(___)

[detections,sensorConfigs,configIDS] = detect(___)

Description

detections = detect(sc) reports the detections from all sensors mounted on every platform in the tracking scenario, sc.

Note

If the HasOcclusion property of the SurfaceManager object, contained in the SurfaceManager property of the tracking scenario, is specified as true, then the detect function accounts for occlusion due to scenario surfaces. If it is specified as false, the detect function does not model occlusion due to ground surfaces and the horizon modeled by the WGS84 Earth model.

Tip

Use this syntax only when none of the sensors requires knowledge of the signals present in the scenario. For example, the HasInterference property of fusionRadarSensor is set to false.

detections = detect(sc,signals) reports the detections from all sensors when at least one sensor requires the knowledge of signals in the scenario. For example, when a fusionRadarSensor is operating in an ESM mode.

detections = detect(sc,signals,configs) reports the detections from all sensors when at least one sensor also requires the knowledge of emitter configurations in the scenario. For example, when a radarSensor is configured as a monostatic radar.

[detections,sensorConfigs] = detect(___) additionally returns the configurations of each sensor at the detection time.

[detections,sensorConfigs,configIDS] = detect(___) additionally returns all platform IDs corresponding to the sensor configurations, sensorConfigs.

Examples

Obtain Detections from Two Platforms in Tracking Scenario

Create a tracking scenario.

s = rng(0); % For repeatable result
ts = trackingScenario('UpdateRate',1);

Create the first platform and mount one emitter and one sensor on it.

plat1 = platform(ts);
plat1.Trajectory.Position = [0,0,0];
emitter1 = radarEmitter(1,'UpdateRate',1);
sensor1 = fusionRadarSensor(1,'DetectionMode','Monostatic','RangeResolution',1);
plat1.Emitters = emitter1;
plat1.Sensors = sensor1;

Create the second platform and mount one emitter and one sensor on it.

plat2 = platform(ts);
plat2.Trajectory.Position = [100,0,0];
emitter2 = radarEmitter(2,'UpdateRate',1);
sensor2 = fusionRadarSensor(2,'DetectionMode','Monostatic','RangeResolution',1);
plat2.Emitters = emitter2;
plat2.Sensors = sensor2;

Advance the tracking scenario, transmit and propagate emissions, and collect signals using the detect function.

advance(ts);
[emtx,emitterConfs,emitterConfPIDs] = emit(ts); % Transmitted emissions
emprop = propagate(ts,emtx,'HasOcclusion',true); % Propagate emissions
[dets,sensorConfs,sensorConfPIDs] = detect(ts,emprop,emitterConfs);

Display the detection results: Sensor 1 on platform 1 detected platform 2.

disp(dets{1})

  objectDetection with properties:

                     Time: 0
              Measurement: [3x1 double]
         MeasurementNoise: [3x3 double]
              SensorIndex: 1
            ObjectClassID: 0
    ObjectClassParameters: []
    MeasurementParameters: [1x1 struct]
         ObjectAttributes: {[1x1 struct]}

sensor = dets{1}.SensorIndex

sensor = 
1

detectedPlatform = dets{1}.ObjectAttributes{1}.TargetIndex

detectedPlatform = 
2

rng(s) % Return the random number generator to its previous state

Input Arguments

sc — Tracking scenario

trackingScenario object

Tracking scenario, specified as a trackingScenario object.

signals — Signal emissions

cell array of signal emission object

Signal emissions, specified as a cell array of signal emission objects, such as radarEmission and sonarEmission.

configs — Emitter configurations

array of emitter configuration structures

Emitter configurations, specified as an array of emitter configuration structures. The fields of each structure are:

Field	Description
EmitterIndex	Unique emitter index, returned as a positive integer.
IsValidTime	Valid emission time, returned as 0 or 1. IsValidTime is 0 when emitter updates are requested at times that are between update intervals specified by the UpdateInterval property.
IsScanDone	Whether the emitter has completed a scan, returned as true or false.
FieldOfView	Field of view of the emitter, returned as a two-element vector [azimuth; elevation] in degrees.
MeasurementParameters	Emitter measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current emitter looking-angle frame.

Output Arguments

detections — Detections

cell array of objectDetection objects

Detections, returned as a cell array of objectDetection objects.

sensorConfigs — Sensor configurations

array of sensor configuration structure

Sensor configurations, return as an array of sensor configuration structures. The fields of each structure are:

Field	Description
SensorIndex	Unique sensor index, returned as a positive integer.
IsValidTime	Valid detection time, returned as true or false. IsValidTime is false when detection updates are requested between update intervals specified by the update rate.
IsScanDone	IsScanDone is true when the sensor has completed a scan.
RangeLimits	Lower and upper range detection limits, returned as a two-element real-valued vector in meters.
RangeRateLimits	Lower and upper range-rate detection limits, returned as a two-element real-valued vector in m/s.
FieldOfView	Field of view of the sensor, returned as a 2-by-1 vector of positive real values, [azfov;elfov]. azfov and elfov represent the field of view in azimuth and elevation, respectively.
MeasurementParameters	Sensor measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current sensor looking-angle frame.

configIDS — Platform IDs for sensor configurations

array of positive integer

Platform IDs for sensor configurations in the sensorConfigs output, returned as an array of positive integers.

Version History

Introduced in R2020a