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perturb

Apply perturbations to tracking scenario

Description

example

offsets = perturb(scene) perturbs the baseline tracking scenario, scene, according to the perturbations defined on objects (such as trajectories, sensors, and platforms) in the scene and returns offset values. Use the perturbations function to define property perturbations on each object.

Examples

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Create a tracking scenario and add a platform.

scenario = trackingScenario;
p = platform(scenario); 

Add a trajectory to the platform.

p.Trajectory = waypointTrajectory('Waypoints',...
    [30 -40 -3; 30 -20 -3; 20 -10 -3; 0 -10 -3; -10 -10 -3]*1e3, ...
    'TimeOfArrival', [0; 100; 150; 350; 450], ... 
    'Course', [90;90;180;180;180]); 

Plot the trajectory.

tp = theaterPlot("XLimits",[-20 35]*1e3,"YLimits",[-45 -5]*1e3);
trajPlotter1 = trajectoryPlotter(tp,'DisplayName','Original','Color','b');
plotTrajectory(trajPlotter1,{p.Trajectory.Waypoints});

Define perturbations for the waypoints. The following defines perturbations on the first and last waypoints as uniform distributions.

perturbations(p.Trajectory, "Waypoints", "Uniform",...
    [-2000 -2000 0; 0 0 0; 0 0 0; 0 0 0; -2000 -2000 0],...
    [+2000 +2000 0; 0 0 0; 0 0 0; 0 0 0; +2000 +2000 0]);

Perturb the scenario and observe the changed waypoints of the platform.

perturb(scenario);
trajPlotter2 = trajectoryPlotter(tp,'DisplayName','Perturbed','Color','g');
plotTrajectory(trajPlotter2,{p.Trajectory.Waypoints})

Figure contains an axes object. The axes object contains 2 objects of type line. These objects represent Original, Perturbed.

Input Arguments

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Tracking scenario, specified as a trackingScenario object.

Output Arguments

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Property offsets, returned as an array of structures. Each structure contains these fields:

Field NameDescription
PlatformIDID of the platform
PeturbedObjectPerturbed object mounted on the platform
PropertyName of perturbed property
OffsetOffset values applied in the perturbation
PerturbedValueProperty values after the perturbation

Introduced in R2020b