Read UAV Trajectory

Generate translation and rotation samples from UAV trajectory

Since R2024b

• 

Libraries:
UAV Toolbox / Utilities

Description

The Read UAV Trajectory block generates translation and rotation samples from a UAV trajectory that you create using a multirotorFlightTrajectory, fixedwingFlightTrajectory, polynomialTrajectory, or waypointTrajectory object.

Use the output of this block for the Translation and Rotation input ports of the Simulation 3D UAV Vehicle block to simulate a UAV trajectory in a 3D simulation environment.

Examples

New

Simulate UAV Scenario Trajectory in Unreal Engine Environment

Design a flight trajectory in a UAV scenario, and simulate the trajectory in a 3D environment using Unreal Engine^®.

• Open Live Script

New

Design Real-World Trajectory in UAV Scenario and Visualize with Cesium

Design real-world trajectory in UAV Scenario and visualize trajectory in 3D environment using Cesium

• Open Live Script

New

Simulate Flight Plan in Real-World Location Using Cesium

Simulate a flight plan created with QGroundControl in 3D environment using Cesium

• Open Live Script

Ports

Input

Time — Time point to sample along trajectory

scalar

Time point to sample along the trajectory, specified as a scalar.

To align your translation and rotation samples with your simulation, use the Clock (Simulink) block as the input for this port

Data Types: double

Output

Translation — Position of UAV

vector

Position of the UAV, returned as a vector of the form [X Y Z], where X, Y, and Z are positions in the x-, y-, and z-axes, respectively. Units are in meters.

If you enable the Convert to ENU reference frame and Front-Left-Up body frame parameter, this block outputs position in the ENU reference frame. Otherwise, the block returns position in the same frame as the trajectory source.

Example: [1 1 1]

Data Types: double

Rotation — Euler angle of UAV

vector

Euler angle of UAV, returned as a vector of the form [Rz Ry Rx], where Rz, Ry, and Rx are rotation angles around the z-, y-, and x- axes, respectively. Units are in radians.

If you enable the Convert to ENU reference frame and Front-Left-Up body frame parameter, this block outputs rotation from the ENU frame to the Front-Left-Up body frame. Otherwise, this block returns rotation in the same frame as the trajectory source.

Example: [1 0 0]

Data Types: double

Parameters

To edit block parameters interactively, use the Property Inspector. From the Simulink^® Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

Trajectory source — Source for trajectory

From trajectory object in workspace (default) | From UAV Scenario in workspace

Select the source for the UAV trajectory from these options:

• From trajectory object in workspace —

  Use a trajectory in your workspace, created using a multirotorFlightTrajectory, fixedwingFlightTrajectory, polynomialTrajectory, or waypointTrajectory object.

• From UAV Scenario in workspace —

  Use a trajectory that you have added to a platform in a UAV scenario.

UAV scenario object — UAV scenario object

singleUAVScenario (default) | uavScenario object

UAV scenario object containing the UAV platform that has the trajectory you want to use, specified as a uavScenario object.

Dependencies

To enable this parameter, set Trajectory source to From UAV Scenario in workspace.

UAV platform name — Name of UAV platform

UAV (default) | name of UAV platform

Name of the UAV that which has the trajectory you want to use.

Dependencies

To enable this parameter, set Trajectory source to From UAV Scenario in workspace.

Trajectory object — Trajectory object

waypointTrajectory() (default) | multirotorFlightTrajectory object | fixedwingFlightTrajectory object | polynomialTrajectory object | waypointTrajectory object

Specify the trajectory using one of these objects in the workspace: multirotorFlightTrajectory, fixedwingFlightTrajectory, polynomialTrajectory, or waypointTrajectory.

Dependencies

To enable this parameter, set Trajectory source to From trajectory object in workspace.

Convert to ENU reference frame and Front-Left-Up body frame — Translation and rotation coordinate frame

on (default) | off

Select this parameter to output translation in the ENU reference frame and rotation from the ENU frame to the Front-Left-Up body frame. Otherwise, the block outputs translation and rotation in the same frame as the trajectory source. Select this parameter if you want to use the outputs of this block as Translation and Rotation inputs for the Simulation 3D UAV Vehicle block.

Version History

Introduced in R2024b