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# Sensor Fusion and Tracking Toolbox Functions - By Category

## Orientation, Position, and Coordinate Systems

 `quaternion` Create a quaternion array `ones` Create quaternion array with real parts set to one and imaginary parts set to zero `zeros` Create quaternion array with all parts set to zero `classUnderlying` Class of parts within quaternion `normalize` Quaternion normalization ```times, .*``` Element-wise quaternion multiplication ```mtimes, *``` Quaternion multiplication `prod` Product of a quaternion array ```minus, -``` Quaternion subtraction ```uminus, -``` Quaternion unary minus `conj` Complex conjugate of quaternion ```ldivide, .\``` Element-wise quaternion left division ```rdivide, ./``` Element-wise quaternion right division `exp` Exponential of quaternion array `log` Natural logarithm of quaternion array ```power, .^``` Element-wise quaternion power `dist` Angular distance in radians `norm` Quaternion norm `meanrot` Quaternion mean rotation `slerp` Spherical linear interpolation `rotateframe` Quaternion frame rotation `rotatepoint` Quaternion point rotation ```ctranspose, '``` Complex conjugate transpose of quaternion array ```transpose, .'``` Transpose a quaternion array `rotmat` Convert quaternion to rotation matrix `rotvec` Convert quaternion to rotation vector (radians) `rotvecd` Convert quaternion to rotation vector (degrees) `parts` Extract quaternion parts `euler` Convert quaternion to Euler angles (radians) `eulerd` Convert quaternion to Euler angles (degrees) `compact` Convert quaternion array to N-by-4 matrix

## Trajectory and Scenario Generation

 `kinematicTrajectory` Rate-driven trajectory generator `waypointTrajectory` Waypoint trajectory generator `trackingScenario` Create tracking scenario `Platform` Platform object belonging to tracking scenario `emissionsInBody` Transform emissions to body frame of platform

## Sensor Models

 `gpsSensor` GPS receiver simulation model `imuSensor` IMU simulation model `accelparams` Accelerometer sensor parameters `gyroparams` Gyroscope sensor parameters `magparams` Magnetometer sensor parameters `irSensor` Generate infrared detections for tracking scenario `irSignature` Infrared platform signature `insSensor` Inertial navigation and GPS simulation model `monostaticRadarSensor` Generate radar detections for tracking scenario `radarChannel` Free space propagation and reflection of radar signals `radarEmission` Emitted radar signal structure `radarEmitter` Radar signals and interferences generator `radarSensor` Generate detections from radar emissions `rcsSignature` Radar cross-section pattern `sonarEmission` Emitted sonar signal structure `sonarEmitter` coustic signals and interferences generator `sonarSensor` Generate detections from sonar emissions `tsSignature` Target strength pattern `underwaterChannel` Propagated and reflected sonar signals

## Inertial Sensor Fusion

 `ecompass` Orientation from magnetometer and accelerometer readings `imufilter` Orientation from accelerometer and gyroscope readings `ahrsfilter` Orientation from accelerometer, gyroscope, and magnetometer readings `insfilter` Create inertial navigation filter

## Estimation Filters

 `initcaabf` Create constant acceleration alpha-beta tracking filter from detection report `initcvabf` Create constant velocity tracking alpha-beta filter from detection report `initcackf` Create constant acceleration tracking cubature Kalman filter from detection report `initcaekf` Create constant-acceleration extended Kalman filter from detection report `initcapf` Create constant acceleration tracking particle filter from detection report `initcvckf` Create constant velocity tracking cubature Kalman filter from detection report `initcvpf` Create constant velocity tracking particle filter from detection report `initctckf` Create constant turn rate tracking cubature Kalman filter from detection report `initcakf` Create constant-acceleration linear Kalman filter from detection report `initcaukf` Create constant-acceleration unscented Kalman filter from detection report `initctekf` Create constant turn-rate extended Kalman filter from detection report `initctukf` Create constant turn-rate unscented Kalman filter from detection report `initctpf` Create constant turn rate tracking particle filter from detection report `initcvekf` Create constant-velocity extended Kalman filter from detection report `initcvkf` Create constant-velocity linear Kalman filter from detection report `initcvmscekf` Constant velocity trackingMSCEKF initialization `initcvukf` Create constant-velocity unscented Kalman filter from detection report `initapekf` Constant velocity angle-parameterized EKF initialization `initekfimm` Initialize trackingIMM object `initrpekf` Constant velocity range-parameterized EKF initialization `trackingGSF` Guassian-sum filter for object tracking `trackingIMM` Interacting multiple model (IMM) filter for object tracking `trackingPF` Particle filter for object tracking `trackingABF` Alpha-beta filter for object tracking `trackingKF` Linear Kalman filter `trackingEKF` Extended Kalman filter `trackingUKF` Unscented Kalman filter `trackingCKF` Cubature Kalman filter for object tracking `trackingMSCEKF` Extended Kalman filter for object tracking in modified spherical coordinates (MSC) `constvel` Constant velocity state update `constveljac` Jacobian for constant-velocity motion `constvelmsc` Constant velocity (CV) motion model in MSC frame `constvelmscjac` Jacobian of constant velocity (CV) motion model in MSC frame `cvmeas` Measurement function for constant velocity motion `cvmeasjac` Jacobian of measurement function for constant velocity motion `cvmeasmsc` Measurement based on constant velocity (CV) model in MSC frame `cvmeasmscjac` Jacobian of measurement using constant velocity (CV) model in MSC frame `constacc` Constant-acceleration motion model `constaccjac` Jacobian for constant-acceleration motion `cameas` Measurement function for constant-acceleration motion `cameasjac` Jacobian of measurement function for constant-acceleration motion `constturn` Constant turn-rate motion model `constturnjac` Jacobian for constant turn-rate motion `ctmeas` Measurement function for constant turn-rate motion `ctmeasjac` Jacobian of measurement function for constant turn-rate motion `switchimm` Model conversion function for trackingIMM object

## Multi-Object Trackers

 `assignauction` Assignment using auction global nearest neighbor `assignjv` Jonker-Volgenant global nearest neighbor assignment algorithm `assignkbest` Assignment using k-best global nearest neighbor `assignkbestsd` K-best S-D solution that minimizes total cost of assignment `assignmunkres` Munkres global nearest neighbor assignment algorithm `assignsd` S-D assignment using Lagrangian relaxation `assignTOMHT` Track-oriented multi-hypotheses tracking assignment `trackerTOMHT` Multi-hypothesis, multi-sensor, multi-object tracker `trackerGNN` Multi-sensor, multi-object tracker using GNN assignment `objectDetection` Create object detection report `getTrackPositions` Returns updated track positions and position covariance matrix `getTrackVelocities` Obtain updated track velocities and velocity covariance matrix `clusterTrackBranches` Cluster track-oriented multi-hypothesis history `compatibleTrackBranches` Formulate global hypotheses from clusters `pruneTrackBranches` Prune track branches with low likelihood `trackHistoryLogic` Confirm and delete tracks based on recent track history `trackScoreLogic` Confirm and delete tracks based on track score `trackBranchHistory` Track-oriented MHT branching and branch history `fusecovint` Covariance fusion using covariance intersection `fusecovunion` Covariance fusion using covariance union `fusexcov` Covariance fusion using cross-covariance `staticDetectionFuser` Static fusion of synchronous sensor detections `triangulateLOS` Triangulate multiple line-of-sight detections

## Visualization and Analytics

 `theaterPlot` Plot objects, detections, and tracks in trackingScenario `trackAssignmentMetrics` Track establishment, maintenance, and deletion metrics `trackErrorMetrics` Track error and NEES

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