Fusion Radar Sensor

Generate radar sensor detections and tracks

Since R2022b

Libraries:
Sensor Fusion and Tracking Toolbox / Tracking Scenario and Sensor Models

Description

The Fusion Radar Sensor block reads target platform poses and generates detection and track reports from targets based on a radar sensor model. Currently, the Fusion Radar Sensor block supports only non-scanning mode. The Fusion Radar Sensor block can generate clustered or unclustered detections with added random noise and can also generate false alarm detections. You can also generate tracks from the Fusion Radar Sensor block. Use the Target reporting format parameter to specify sensor outputs as clustered detections, unclustered detections, or tracks.

Ports

Input

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Platforms — Target platform poses
Simulink^® bus containing MATLAB^® structure

Target platform poses expressed in the reference platform coordinates, specified as a Simulink bus containing a MATLAB structure. The reference platform is the mounting platform of the radar sensor. For more details about buses, see Create Nonvirtual Buses (Simulink). The structure has these fields.

Field	Description
`NumPlatforms`	Number of platforms, specified as a nonnegative integer.
`Platforms`	Platforms poses, specified as an array of platform pose structures. The block reads only as many platform poses as the number of platforms specified in `NumPlatforms`.

The fields of each platform pose structure are:

Field	Description
`PlatformID`	Unique identifier for the target platform, specified as a positive integer.
`ClassID`	User-defined integer used to classify the type of target platform, specified as a nonnegative integer. `0` is reserved for unclassified platform types and is the default value.
`Position`	Position of target platform in the reference platform body frame, specified as a real-valued 1-by-3 vector. Units are in meters.
`Velocity`	Velocity of the target platform in the reference platform body frame, specified as a real-valued 1-by-3 vector. Units are in meters per second.
`Acceleration`	Acceleration of the target platform in the reference platform body frame, specified as a real-valued 1-by-3 vector. Units are in meters per second-squared.
`Orientation`	Orientation of the target platform with respect to the reference platform body frame, specified as a 3-by-3 rotation matrix. Orientation defines the frame rotation from the platform coordinate system to the target body coordinate system.
`AngularVelocity`	Angular velocity of the target platform in the reference platform body frame, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. Units are in degrees per second. The default is `[0 0 0]`.

You can use the Tracking Scenario Reader block to generate target platform poses expressed in the scenario frame. Then use the Scenario To Platform block to obtain target platform poses in the reference platform frame.

INS — Radar reference platform pose from INS
Simulink bus containing MATLAB structure

Radar reference platform pose information from an inertial navigation system (INS), specified as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink). The structure includes pose information for the radar platform provided by the INS. The INS structure has these fields.

Field	Definition
`Position`	Position of the platform in the scenario frame, specified as a real-valued 1-by-3 vector. Units are in meters.
`Velocity`	Velocity of the platform in the scenario frame, specified as a real-valued 1-by-3 vector. Units are in m/s.
`Orientation`	Orientation of the platform body frame with respect to the scenario frame, specified as a 3-by-3 real-valued rotation matrix. The rotation is from the scenario frame to the platform body frame. This is also referred to as a parent-to-child rotation.

Dependencies

To enable this port, select the Enable INS check box.

Time — Current simulation time
nonnegative scalar

Current simulation time, specified as a nonnegative scalar. Note that the sensor generates reports only at simulation times corresponding to integer multiples of the update interval, which is the reciprocal of the specified Update rate (Hz) parameter. Units are in seconds.

Dependencies

To enable this port, set the Source of target truth time parameter to Input port.

If you do not enable this port, then the block uses the current Simulink simulation time.

Data Types: double

Output

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Clustered Detections — Clustered object detections
Simulink bus containing MATLAB structure

Clustered object detections, returned as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink).

With clustered detections, the block outputs a single detection per target, where each detection is the centroid of the unclustered detections for that target.

The structure contains these fields.

Field	Description	Type
`NumDetections`	Number of detections	Nonnegative integer
`IsValidTime`	False when updates are requested at times that are between block invocation intervals	Boolean
`Detections`	Object detections	Array of object detection structures of length set by the Maximum number of target reports parameter. Only the first `NumDetections` of these are actual detections.

Each object detection structure contains these fields.

Fields	Definition
`Time`	Measurement time
`Measurement`	Object measurements
`MeasurementNoise`	Measurement noise covariance matrix
`SensorIndex`	Unique ID of the sensor
`ObjectClassID`	Object classification
`ObjectAttributes`	Additional information passed to tracker
`MeasurementParameters`	Parameters used by initialization functions of nonlinear Kalman tracking filters

For rectangular coordinates, the block reports Measurement and MeasurementNoise in the rectangular coordinate system specified by the Coordinate system parameter.
For spherical coordinates, the block reports Measurement and MeasurementNoise in the spherical coordinate system specified by the Coordinate system parameter.

Measurement and MeasurementNoise

Coordinate System Measurement and MeasurementNoise Coordinates

Scenario

This table shows how coordinates are affected by the Enable range rate measurements parameter.

Enable range rate measurements	Coordinates
`on`	`[x;y;z;vx;vy;vz]`
`off`	`[x;y;z]`

Body

Sensor rectangular

Sensor spherical

This table shows how coordinates are affected by the Enable elevation angle measurements and Enable range rate measurements parameters.

Enable range rate measurements	Enable elevation angle measurements	Coordinates
`on`	`on`	`[az;el;rng;rr]`
`on`	`off`	`[az;rng;rr]`
`off`	`on`	`[az;el;rng]`
`off`	`off`	`[az;rng]`

az is the azimuth angle, el is the elevation angle, rng is the range, and rr is the range rate. Units for angles are in degrees.

The ObjectAttributes structure has these fields.

ObjectAttributes

Attribute	Definition
`TargetIndex`	`PlatformID` of the target platform that corresponds to the detection, returned as a positive integer. For false alarms, this value is negative.
`SNR`	Signal-to-noise ratio of the detection. Units are in dB.

The MeasurementParameters field can contain at least one measurement parameter structure, representing the transformation from the platform body frame to the sensor looking angle frame. If you specify the INS information through the INS input port and you also specify the Coordinate system parameter as scenario, the MeasurementParameters field also contains an additional measurement parameter structure, representing the transformation from the scenario frame to the reference platform body frame. Each measurement parameter structure has these fields.

Field	Description
`Frame`	Enumerated type indicating the frame used to report measurements. When detections are reported using a rectangular coordinate system, `Frame` is set to `'rectangular'`. When detections are reported in spherical coordinates, `Frame` is set to `'spherical'`.
`OriginPosition`	Position offset of the origin of the child frame relative to the parent frame, represented as a 3-by-1 vector.
`OriginVelocity`	Velocity offset of the origin of the child frame relative to the parent frame, represented as a 3-by-1 vector.
`Orientation`	3-by-3 real-valued orthonormal frame rotation matrix. The direction of the rotation depends on the `IsParentTochild` field.
`IsParentToChild`	A logical scalar indicating if `Orientation` performs a frame rotation from the parent coordinate frame to the child coordinate frame. If `false`, `Orientation` instead performs a frame rotation from the child coordinate frame to the parent coordinate frame.
`HasElevation`	A logical scalar indicating if elevation is included in the measurement. For measurements reported in a rectangular frame, if `HasElevation` is `false`, the measurements are reported assuming 0 degrees of elevation.
`HasAzimuth`	A logical scalar indicating if azimuth is included in the measurement.
`HasRange`	A logical scalar indicating if range is included in the measurement.
`HasVelocity`	A logical scalar indicating if the reported detections include velocity measurements. For measurements reported in a rectangular frame, if `HasVelocity` is `false`, the measurements are reported as `[x y z]`. If `HasVelocity` is `true`, measurements are reported as `[x y z vx vy vz]`. For measurements reported in a spherical frame, if `HasVelocity` is `false`, the measurements are reported as `[az el rng]`. If `HasVelocity` is `true`, measurements are reported as `[az;el;rng;rr]`.

Dependencies

To enable this port, select the Target reporting format parameter to Clustered detections.

Tracks — Object tracks
Simulink bus containing MATLAB structure

Object tracks, returned as a Simulink bus containing a MATLAB structure. See Create Nonvirtual Buses (Simulink).

Each structure has these fields.

Field	Description
`NumTracks`	Number of tracks
`IsValidTime`	False when you request updates between block invocation intervals
`Tracks`	Array of track structures of a length set by the Maximum number of target reports parameter. Only the first `NumTracks` of these are actual tracks.

This table shows the fields of each track structure.

Field	Definition
`TrackID`	Unique track identifier used to distinguish multiple tracks.
`BranchID`	Unique track branch identifier used to distinguish multiple track branches.
`SourceIndex`	Unique source index used to distinguish tracking sources in a multiple tracker environment.
`UpdateTime`	Time at which the track is updated. Units are in seconds.
`Age`	Number of times the track was updated.
`State`	Value of state vector at the update time.
`StateCovariance`	Uncertainty covariance matrix of the state estimate error.
`ObjectClassID`	Integer value representing the object classification. The value `0` represents an unknown classification. Nonzero classifications apply only to confirmed tracks.
`TrackLogic`	Confirmation and deletion logic type. This value is always `'History'` for radar sensors, to indicate history-based logic.
`TrackLogicState`	Current state of the track logic type, returned as a 1-by-K logical array. K is the number of latest logical track states recorded. In the array, `1` denotes a hit and `0` denotes a miss.
`IsConfirmed`	Confirmation status. This field is `true` if the track is confirmed to be a real target.
`IsCoasted`	Coasting status. This field is `true` if the track is updated without a new detection.
`IsSelfReported`	Indicate if the track is reported by the tracker. This field is used in a track fusion environment. It is returned as `true` by default.
`ObjectAttributes`	Additional information about the track.

For more details about these fields, see objectTrack.

The block outputs only confirmed tracks, which are tracks that are assigned at least M detections during the first N updates after track initialization. To specify the values M and N, use the M and N for the M-out-of-N confirmation parameter.

Dependencies

To enable this port, set the Target reporting format parameter to Tracks.

Detections — Unclustered object detections
Simulink bus containing MATLAB structure

Unclustered object detections, returned as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink).

With unclustered detections, the block outputs all detections, and a target can have multiple detections.

The structure contains these fields.

Field	Description	Type
`NumDetections`	Number of detections	Nonnegative integer
`IsValidTime`	False when updates are requested at times that are between block invocation intervals	Boolean
`Detections`	Object detections	Array of object detection structures of length set by the Maximum number of target reports parameter. Only the first `NumDetections` of these are actual detections.

Each object detection structure contains these fields.

Fields	Definition
`Time`	Measurement time
`Measurement`	Object measurements
`MeasurementNoise`	Measurement noise covariance matrix
`SensorIndex`	Unique ID of the sensor
`ObjectClassID`	Object classification
`ObjectAttributes`	Additional information passed to tracker
`MeasurementParameters`	Parameters used by initialization functions of nonlinear Kalman tracking filters

For rectangular coordinates, the block reports Measurement and MeasurementNoise in the rectangular coordinate system specified by the Coordinate system parameter.
For spherical coordinates, the block reports Measurement and MeasurementNoise in the spherical coordinate system specified by the Coordinate system parameter.

Measurement and MeasurementNoise

Coordinate System Measurement and MeasurementNoise Coordinates

Scenario

This table shows how coordinates are affected by the Enable range rate measurements parameter.

Enable range rate measurements	Coordinates
`on`	`[x;y;z;vx;vy;vz]`
`off`	`[x;y;z]`

Body

Sensor rectangular

Sensor spherical

This table shows how coordinates are affected by the Enable elevation angle measurements and Enable range rate measurements parameters.

Enable range rate measurements	Enable elevation angle measurements	Coordinates
`on`	`on`	`[az;el;rng;rr]`
`on`	`off`	`[az;rng;rr]`
`off`	`on`	`[az;el;rng]`
`off`	`off`	`[az;rng]`

az is the azimuth angle, el is the elevation angle, rng is the range, and rr is the range rate. Units for angles are in degrees.

The ObjectAttributes structure has these fields.

ObjectAttributes

Attribute	Definition
`TargetIndex`	`PlatformID` of the target platform that corresponds to the detection, returned as a positive integer. For false alarms, this value is negative.
`SNR`	Signal-to-noise ratio of the detection. Units are in dB.

Field	Description
`Frame`	Enumerated type indicating the frame used to report measurements. When detections are reported using a rectangular coordinate system, `Frame` is set to `'rectangular'`. When detections are reported in spherical coordinates, `Frame` is set to `'spherical'`.
`OriginPosition`	Position offset of the origin of the child frame relative to the parent frame, represented as a 3-by-1 vector.
`OriginVelocity`	Velocity offset of the origin of the child frame relative to the parent frame, represented as a 3-by-1 vector.
`Orientation`	3-by-3 real-valued orthonormal frame rotation matrix. The direction of the rotation depends on the `IsParentTochild` field.
`IsParentToChild`	A logical scalar indicating if `Orientation` performs a frame rotation from the parent coordinate frame to the child coordinate frame. If `false`, `Orientation` instead performs a frame rotation from the child coordinate frame to the parent coordinate frame.
`HasElevation`	A logical scalar indicating if elevation is included in the measurement. For measurements reported in a rectangular frame, if `HasElevation` is `false`, the measurements are reported assuming 0 degrees of elevation.
`HasAzimuth`	A logical scalar indicating if azimuth is included in the measurement.
`HasRange`	A logical scalar indicating if range is included in the measurement.
`HasVelocity`	A logical scalar indicating if the reported detections include velocity measurements. For measurements reported in a rectangular frame, if `HasVelocity` is `false`, the measurements are reported as `[x y z]`. If `HasVelocity` is `true`, measurements are reported as `[x y z vx vy vz]`. For measurements reported in a spherical frame, if `HasVelocity` is `false`, the measurements are reported as `[az el rng]`. If `HasVelocity` is `true`, measurements are reported as `[az;el;rng;rr]`.

Dependencies

To enable this port, set the Target reporting format parameter to Detections.

Configuration — Current sensor configuration
Simulink bus containing MATLAB structure

Configuration, returned as a Simulink bus containing a MATLAB structure. You can use this port to determine objects falling within the radar beam during object execution. The structure has these fields:

Field	Description	Type
`NumConfigurations`	Number of valid configurations	integer
`Configurations`	Configuration structures	Array of `NumConfigurations` configuration structures

The configuration structure has these fields.

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.
`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. Units are in degrees.
`RangeLimits`	Minimum and maximum range of the sensor, in meters, specified as a 1-by-2 nonnegative real-valued vector of the form `[rmin,rmax]`. Units are in meters.
`RangeRateLimits`	Minimum and maximum range rate of the sensor, in meters per second, specified as a 1-by-2 real-valued vector of the form `[rrmin,rrmax]`. Units are in meters.
`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 frame. For details on `MeasurementParameters`, see `Measurement Parameters`.

Dependencies

To enable this port, select the Enable radar configuration output check box.

Parameters

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Parameters

Sensor Identification

Unique identifier of sensor — Unique sensor identifier
`0` (default) | positive integer

Unique sensor identifier, specified as a positive integer. Use this parameter to distinguish between detections or tracks that come from different sensors in a multisensor system. Specify a unique value for each sensor. If you do not update Unique identifier of sensor from the default value of 0, then the radar returns an error at the start of simulation.

Update rate (Hz) — Sensor update rate
`10` (default) | positive real scalar

Sensor update rate, specified as a positive real scalar. The radar generates new reports at intervals defined by the reciprocal of this value. For example, if the update rate is 10 Hz, then the sensor generates detections every 0.1 seconds. A sensor update request between update intervals contains no detections or tracks. Units are in Hz.

Sensor Mounting

Translation [ X, Y, Z ] relative to platform origin (m) — Mounting location of radar on platform
`[0,0,0]` (default) | 1-by-3 real-valued vector of form `[x,y,z]`

Sensor location of the radar on the reference platform, specified as a 1-by-3 real-valued vector of the form [x,y,z]. This parameter defines the coordinates of the sensor along the x-axis, y-axis, and z-axis relative to the platform origin. Units are in meters.

Rotation [Yaw,Pitch,Roll] relative to platform's frame (deg) — Mounting angles of radar
`[0 0 0]` (default) | 1-by-3 real-valued vector of form [z_yaw y_pitch x_roll]

Mounting angles of the radar, specified as a 1-by-3 real-valued vector of form [z_yaw y_pitch x_roll]. This parameter defines the intrinsic Euler angle rotation of the sensor around the z-axis, y-axis, and x-axis with respect to the platform frame, where:

z_yaw, or yaw angle, rotates the sensor around the z-axis of the platform frame.
y_pitch, or pitch angle, rotates the sensor around the y-axis of the platform frame. This rotation is relative to the sensor position that results from the z_yaw rotation.
x_roll, or roll angle, rotates the sensor about the x-axis of the platform frame. This rotation is relative to the sensor position that results from the z_yaw and y_pitch rotations.

Units are in degrees.

Detection Reporting

Enable elevation angle measurements — Enable radar to measure target elevation angles
`off` (default) | `on`

Select this check box to model a radar sensor that can measure target elevation.

Enable range rate measurements — Enable radar to measure target range rates
`off` (default) | `on`

Select this check box to enable the radar to measure range rates from target detections.

Add noise to measurements — Enable addition of noise to radar sensor measurements
`on` (default) | `off`

Select this parameter to add noise to the radar measurements. Otherwise, the measurements have no noise. Even if you clear this parameter, the measurement noise covariance matrix, which is reported in the MeasurementNoise field of the generated detections output, represents the measurement noise that is added when Add noise to measurements is selected.

Enable false reports — Enable creating false alarm radar detections
`on` (default) | `off`

Select this parameter to enable creating false alarm radar measurements. If you clear this parameter, the radar reports only actual detections.

Enable occlusion — Enable line-of-sight occlusion
`on` (default) | `off`

Select this parameter to enable line-of-sight occlusion from extended objects. If you enable this parameter, the sensor models two types of occlusion, self occlusion and inter-object occlusion. Self occlusion occurs when one side of an extended object occludes another side. Inter-object occlusion occurs when one extended object stands in the line of sight of another extended object or a point target. Both extended objects and point targets can be occluded by extended objects, but a point target cannot occlude another point target or an extended object.

Maximum number of target reports — Maximum number of detections or tracks
`100` (default) | positive integer

Maximum number of detections or tracks that the sensor reports, specified as a positive integer. The sensor reports detections in order of increasing distance from the sensor until reaching this maximum number.

Target reporting format — Format of generated target reports
`Clustered detections` (default) | `Tracks` | `Detections`

Format of generated target reports, specified as one of these options:

Clustered detections — The block generates target reports as clustered detections, where each target is reported as a single detection that is the centroid of the unclustered target detections. The block returns clustered detections at the Clustered detections output port.
Tracks — The block generates target reports as tracks, which are clustered detections that have been processed by a tracker. The block returns tracks at the Tracks output port.
Detections — The block generates target reports as unclustered detections, where each target can have multiple detections. The block returns clustered detections at the Detections output port.

Coordinate system — Coordinate system of reported detections
`Body` (default) | `Sensor rectangular` | `Sensor spherical` | `Scenario`

Coordinate system of reported detections, specified as one of these options:

Body — Detections are reported in the rectangular body system of the sensor platform.
Sensor rectangular — Detections are reported in the sensor rectangular body coordinate system.
Sensor spherical — Detections are reported in a spherical coordinate system that is centered at the radar sensor and aligned with the orientation of the radar on the platform.
Scenario — Detections are reported in the rectangular scenario coordinate frame. To use this option, you must specify the INS input port.

Inputs and Outputs

Source of target truth time — Source of target truth time
`Auto` (default) | `Input port`

Source of target truth time, specified as one of these options:

Auto — The block uses the current Simulink simulation time.
Input port — The block uses the time provided on the Time input port of the block.

Enable INS — Enable INS input port
`off` (default) | `on`

Select this parameter to allow input of INS data using the INS input port.

Source of output target report bus name — Source of output target report bus name
`Auto` (default) | `Property`

Source of the output target report bus name, specified as one of these options:

Auto — The block automatically creates a bus name.
Property — Specify the bus name by using the Specify an output target report bus name parameter.

This bus name applies to the Clustered detections, Tracks, and Detections output ports.

Specify an output target report bus name — Name of target report output bus
`BusFusionRadarSensor` (default) | valid bus name

Name of the target report bus to be returned in the output port, specified as a valid bus name. This bus name applies to the Clustered detections, Tracks, and Detections output ports.

Dependencies

To enable this parameter, set the Source of output target report bus name parameter to Property.

Enable radar configuration output — Enable radar configuration output
`off` (default) | `on`

Enable the Configuration output port.

Source of output config bus name — Source of output config bus name
`Auto` (default) | `Property`

Source of bus name of the Configuration output port, specified as one of these options:

Auto — The block automatically creates a bus name.
Property — Specify the bus name by using the Specify an output config bus name parameter.

Dependencies

To enable this parameter, select the Enable radar configuration output check box.

Specify an output config bus name — Name of sensor configuration output bus
`BusFusionRadarSensorConfig` (default) | valid bus name

Specify the name of the radar configuration bus returned in the Configuration output port.

Dependencies

To enable this parameter, set the Source of output config bus name parameter to Property.

Measurements

Resolution settings

Azimuth resolution (deg) — Azimuth resolution of radar
`1` (default) | positive scalar

Azimuth resolution of the radar, specified as a positive scalar. The azimuth resolution defines the minimum separation in the azimuth angle at which the radar can distinguish between two targets. The azimuth resolution is typically the 3 dB downpoint of the azimuth angle beamwidth of the radar. Units are in degrees.

Elevation resolution (deg) — Elevation resolution of radar
`5` (default) | positive scalar

Elevation resolution of the radar, specified as a positive scalar. The elevation resolution defines the minimum separation in the elevation angle at which the radar can distinguish between two targets. The elevation resolution is typically the 3 dB downpoint of the elevation angle beamwidth of the radar. Units are in degrees.

Dependencies

To enable this parameter, select the Enable elevation angle measurements check box.

Range resolution (m) — Range resolution of radar
`100` (default) | positive real scalar

Range resolution of the radar in meters, specified as a positive real scalar. The range resolution defines the minimum separation in the range at which the radar can distinguish between two targets. Units are in meters.

Range rate resolution (m/s) — Range rate resolution of radar
`10` (default) | positive real scalar

Range rate resolution of the radar, specified as a positive real scalar. The range rate resolution defines the minimum separation in the range rate at which the radar can distinguish between two targets. Units are in meters per second.

Dependencies

To enable this parameter, on the Parameters tab, select the Enable range rate measurements check box.

Bias settings

Azimuth bias fraction — Azimuth bias fraction of radar
`0.1` (default) | nonnegative scalar

Azimuth bias fraction of the radar, specified as a nonnegative scalar. Azimuth bias is expressed as a fraction of the azimuth resolution specified in the Azimuth resolution (deg) parameter. This value sets a lower bound on the azimuthal accuracy of the radar and is dimensionless.

Elevation bias fraction — Elevation bias fraction of radar
`0.1` (default) | nonnegative scalar

Elevation bias fraction of the radar, specified as a nonnegative scalar. Elevation bias is expressed as a fraction of the elevation resolution specified in the Elevation resolution (deg) parameter. This value sets a lower bound on the elevation accuracy of the radar and is dimensionless.

Dependencies

To enable this parameter, select the Enable elevation angle measurements check box.

Range bias fraction — Range bias fraction
`0.05` (default) | nonnegative scalar

Range bias fraction of the radar, specified as a nonnegative scalar. Range bias is expressed as a fraction of the range resolution specified by the Range resolution (m) property. This parameter sets a lower bound on the range accuracy of the radar and is dimensionless.

Range rate bias fraction — Range rate bias fraction
`0.05` (default) | nonnegative scalar

Range rate bias fraction of the radar, specified as a nonnegative scalar. Range rate bias is expressed as a fraction of the range rate resolution specified by the Range rate resolution (m/s) parameter. This parameter sets a lower bound on the range rate accuracy of the radar and is dimensionless.

Dependencies

To enable this parameter, select the Enable range rate measurements check box.

Detector settings

Total angular field of view [AZ, EL] (deg) — Angular field of view of radar
`[1 5]` (default) | 1-by-2 positive real-valued vector of form `[azfov,elfov]`

Angular field of view of the radar, specified as a 1-by-2 positive real-valued vector of the form [azfov elfov]. The field of view defines the angular extent spanned by the sensor. The azimuth field of view azfov must lie in the interval (0, 360]. The elevation field of view elfov must lie in the interval (0, 180]. Units are in degrees

Range limits [MIN, MAX] (m) — Minimum and maximum range of radar
`[0 100e3]` (default) | 1-by-2 nonnegative real-valued vector of form `[min max]`

Minimum and maximum range of the radar, specified as a 1-by-2 nonnegative real-valued vector of the form [min max]. The radar does not detect targets that are outside this range. The maximum range max must be greater than the minimum range min. Units are in meters.

Range rate limits [MIN, MAX] (m/s) — Minimum and maximum range rate of radar (m/s)
`[-200, 200]` (default) | 1-by-2 real-valued vector of form `[min max]`

Minimum and maximum range rate of radar, specified as a 1-by-2 real-valued vector of the form [min max]. The radar does not detect targets that are outside this range rate. The maximum range rate max must be greater than the minimum range rate min. Units are in meters per second.

Dependencies

To enable this parameter, select the Enable range rate measurements check box.

Detection probability — Probability of detecting a target
`0.9` (default) | scalar in range (0, 1]

Probability of detecting a target, specified as a scalar in the range (0, 1]. This parameter defines the probability of detecting a target that has a radar cross-section (RCS) specified by the Reference target RCS (dBsm) parameter and is at the range specified by the Reference target range (m) parameter. Units are dimensionless.

False alarm rate — False alarm report rate
`1e-06` (default) | positive real scalar in range [10^–7, 10^–3]

False alarm report rate within each radar resolution cell, specified as a positive real scalar in the range [10^–7, 10^–3]. The block determines resolution cells from the Azimuth resolution (deg) and Range resolution (m) parameters and, when enabled, from the Elevation resolution (deg) and Range rate resolution (m/s) parameters. Units are dimensionless.

Reference target range (m) — Reference target range
`1000e3` (default) | positive real scalar

Reference target range for the given probability of detection and the given reference radar cross-section (RCS), specified as a positive real scalar. The reference range is the range at which a target having a radar cross-section specified by the Reference target RCS (dBsm) parameter is detected with a probability of detection specified by the Detection probability parameter. Units are in meters.

Reference target RCS (dBsm) — Reference target radar cross-section
`0` (default) | real scalar

Reference target radar cross-section (RCS) for a given probability of detection and reference range, specified as a real scalar. The reference RCS is the RCS value at which a target is detected with a probability specified by the Detection probability parameter at the specified Reference target range (m) parameter value. Values are expressed in dBsm.

Center frequency (Hz) — Center frequency of radar band
`300e6` (default) | positive real scalar

Center frequency of the radar band, specified as a positive scalar. Units are in Hz.

Tracker Setting

Filter initialization function name — Kalman filter initialization function
`initcvekf` (default) | function name

Kalman filter initialization function, specified as the name of a valid Kalman filter initialization function.

This table shows the initialization functions you can use to specify Filter initialization function name.

Initialization Function	Function Definition
`initcaabf`	Initialize constant-acceleration alpha-beta Kalman filter
`initcvabf`	Initialize constant-velocity alpha-beta Kalman filter
`initcakf`	Initialize constant-acceleration linear Kalman filter.
`initcvkf`	Initialize constant-velocity linear Kalman filter.
`initcaekf`	Initialize constant-acceleration extended Kalman filter.
`initctekf`	Initialize constant-turnrate extended Kalman filter.
`initcvekf`	Initialize constant-velocity extended Kalman filter.
`initcaukf`	Initialize constant-acceleration unscented Kalman filter.
`initctukf`	Initialize constant-turnrate unscented Kalman filter.
`initcvukf`	Initialize constant-velocity unscented Kalman filter.

You can also write your own initialization function. The function must have this syntax.

filter = filterInitializationFcn(detection)

The input to this function is a detection report like those created by an objectDetection object. The output of this function must be a tracking filter object, such as trackingKF, trackingEKF, trackingUKF, or trackingABF.

To guide you in writing this function, you can examine the details of one of the functions in the table in MATLAB.

type initcvekf

Dependencies

To enable this parameter, set the Target reporting format parameter to Tracks.

M and N for the M-out-of-N confirmation — Threshold for track confirmation
`[2 3]` (default) | 1-by-2 vector of positive integers

Threshold for track confirmation, specified as a 1-by-2 vector of positive integers of the form [M N]. A track is confirmed if it receives at least M detections in the last N updates. M must be less than or equal to N.

When setting M, take into account the probability of object detection for the sensors. The probability of detection depends on factors such as occlusion or clutter. You can reduce M when tracks fail to be confirmed or increase M when too many false detections are assigned to tracks.
When setting N, consider the number of times you want the tracker to update before it makes a confirmation decision. For example, if a tracker updates every 0.05 seconds, and you want to allow 0.5 seconds to make a confirmation decision, set N = 10.

Dependencies

To enable this parameter, set the Target reporting format parameter to Tracks.

P and R for the P-out-of-R deletion — Threshold for track deletion
`[5 5]` (default) | 1-by-2 vector of positive integers

Threshold for track deletion, specified as a 1-by-2 vector of positive integers of the form [P R]. If a confirmed track is not assigned to any detection P times in the last R tracker updates, then the track is deleted. P must be less than or equal to R.

To reduce how long the radar maintains tracks, decrease R or increase P.
To maintain tracks for a longer time, increase R or decrease P.

Dependencies

To enable this parameter, set the Target reporting format parameter to Tracks.

Random Number Generator Settings

Random number generation — Method to specify random number generator seed
`Repeatable` (default) | `Specify seed` | `Not repeatable`

Method to set the random number generator seed as one of the options in the table.

Option	Description
`Repeatable`	The block generates a random initial seed for the first simulation and reuses this seed for all subsequent simulations. Select this parameter to generate repeatable results from the statistical sensor model. To change this initial seed, at the MATLAB command prompt, enter: `clear all`.
`Specify seed`	Specify your own random initial seed for reproducible results by using the Initial seed parameter.
`Not repeatable`	The block generates a new random initial seed after each simulation run. Select this parameter to generate nonrepeatable results from the statistical sensor model.

Initial seed — Random number generator seed
`0` (default) | nonnegative integer less than 2³²

Random number generator seed, specified as a nonnegative integer less than 2³².

Dependencies

To enable this parameter, set the Random number generation parameter to Specify seed.

Target Profiles

Target profiles definition — Method to specify target profiles
`From Scenario Reader block` (default) | `MATLAB expression` | `Parameters`

Method to specify target profiles, specified as one of Parameters, MATLAB expression, From Scenario Reader block. Profiles are the physical and radar characteristics of targets in the scenario.

Parameters — The block obtains the target profiles from these parameters:
- Unique target identifiers
- Target classification identifiers
- Length of target cuboids (m)
- Width of target cuboids (m)
- Height of target cuboids (m)
- Rotational center of target cuboids (m)
- Target signatures
MATLAB expression — The block obtains the target profiles from the MATLAB expression specified by the MATLAB expression for target profiles parameter.
From Scenario Reader block — The block obtains the platforms profiles from the Tracking Scenario Reader block.

MATLAB expression for target profiles — MATLAB expression for target profiles
MATLAB structure | MATLAB structure array | valid MATLAB expression

Specify the MATLAB expression for target profiles, as a MATLAB structure, a MATLAB structure array, or a valid MATLAB expression that produces such a structure or structure array.

You can use the outputs from the platformProfiles object function of the trackingScenario object to specify target profiles.

The default target profile expression produces a MATLAB structure and has this form.

struct('ClassID',0,'Dimensions', ...
'Length',0,'Width',0,'Height',0,'OriginOffset',[0 0 0]), ...
'Signatures',{rcsSignature})

Dependencies

To enable this parameter, set the Target profiles definition parameter to MATLAB expression.

Unique target identifiers — Scenario-defined target identifier
`[]` (default) | positive integer | length-L vector of unique positive integers

Specify the scenario-defined target identifier as a positive integer or length-L vector of unique positive integers. L must equal the number of targets input into the Platforms input port. The vector elements must match PlatformID values of the targets. You can specify Unique target identifiers as []. In this case, the same target profile parameters apply to all targets.

Example: [1 2]