궤적 및 시나리오 생성

ground-truth 웨이포인트 기반 궤적 및 시나리오와 레이트 기반 궤적 및 시나리오

kinematicTrajectory System object, waypointTrajectory System object, geoTrajectory System object를 사용하여 센서 모델을 구동하기 위한 ground-truth 궤적을 생성합니다. trackingScenario를 사용하여 3차원 환경에서 여러 플랫폼의 추적을 시뮬레이션합니다. 추적 시나리오 디자이너 앱을 사용하여 추적 시나리오를 설계하고 플랫폼과 센서를 구성하고 합성 객체 검출을 생성합니다.

함수

모두 확장

궤적 생성

`kinematicTrajectory`	Rate-driven trajectory generator
`waypointTrajectory`	Waypoint trajectory generator
`geoTrajectory`	Waypoint trajectory in geodetic coordinates (R2020b 이후)

시나리오 생성

`trackingScenario`	Create tracking scenario
`trackingScenarioRecording`	Tracking scenario recording (R2020a 이후)
`Platform`	Platform object belonging to tracking scenario
`GroundSurface`	Ground surface belonging to tracking scenario (R2022a 이후)
`SurfaceManager`	Manage surfaces in tracking scenario (R2022a 이후)
`objectDetection`	Report for single object detection
`objectDetectionDelay`	Simulate out-of-sequence object detections (R2022a 이후)
`monteCarloRun`	Monte Carlo realization of tracking scenario (R2020a 이후)
`emissionsInBody`	Transform emissions to body frame of platform

앱

추적 시나리오 디자이너	Design tracking scenarios, configure platforms and sensors, and generate synthetic object detections (R2020a 이후)
추적 시나리오 플레이어	Play tracking scenario and tracking scenario recording (R2023a 이후)

블록

Tracking Scenario Reader	Read tracking scenario and generate simulation data (R2021b 이후)
Scenario To Platform	Transform platform poses from scenario frame to platform body frame (R2022b 이후)

도움말 항목

Tracking Simulation Overview
You can build a complete tracking simulation using the functions and objects supplied in this toolbox.
Creating a Tracking Scenario
You can define a tracking simulation by using the trackingScenario object.
Model Platform Motion Using Trajectory Objects
This topic introduces how to use three different trajectory objects to model platform trajectories, and how to choose between them.
Define Trajectory Using Positions and Ground Speed
Define waypointTrajectory when time-of-arrival information is not available.

추천 예제

Design and Simulate Tracking Scenario with Tracking Scenario Designer

Use trackingScenarioDesigner with an existing session file. Using the application, you can add, modify, or remove platforms, monostatic radar sensors, and trajectories of all objects in the scenario. You can also export the scenario as a MATLAB script for further analysis.

라이브 스크립트 열기

Introduction to Tracking Scenario and Simulating Sensor Detections

Introduces how to generate synthetic radar detections in a tracking scenario that simulates target motion and sensor detections. Specifically, this example shows:

라이브 스크립트 열기

Benchmark Trajectories for Multi-Object Tracking

Generate and visualize trajectories of multiple aircraft using trackingScenario and waypointTrajectory.

스크립트 열기

Multiplatform Radar Detection Generation

Generate radar detections from a multiplatform radar network. The network includes three long-range platforms: two airborne and one ground-based. Such synthetic data can be used to test the performance of tracking architectures for different target types and maneuvers.

라이브 스크립트 열기

Reconstruct Ground Truth Trajectory from Sampled Data Using Filtering, Smoothing, and Interpolation

Use an interactive motion-model based filter along with a smoother to reconstruct the ground truth trajectory based on interpolation techniques.

라이브 스크립트 열기

How to Simulate Out-of-Sequence Measurements

Simulate out-of-sequence measurements (OOSMs). OOSMs occur in multisensor systems when detections from some sensors arrive at the tracker after the tracker has processed detections of the same or earlier time from other sensors. Several reasons, mostly sensor processing lag and sensor-to-tracker connection delays, can cause this problem. For more about OOSMs, see Introduction to Out-of-Sequence Measurement Handling

라이브 스크립트 열기