uavScenario

Generate UAV simulation scenario

Description

The uavScenario object generates a UAV simulation scenario. Use the addMesh object function to add static meshes to the scene to represent buildings, terrain, and other obstacles. To add a UAV platform to the scene, use the uavPlatform object. To attach a sensor to the UAV platform, use the uavSensor object.

Creation

Syntax

scene = uavScenario

scene = uavScenario(Name=Value)

Description

scene = uavScenario creates an empty UAV scenario with default property values.

scene = uavScenario(Name=Value) sets writable properties using one or more name-value arguments. For example, StopTime=20 generates a UAV scenario that stops simulating after 20 seconds.

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

UpdateRate — Scenario update rate

10 (default) | positive scalar

Scenario update rate, specified as a positive scalar in Hz.

The advance object function advances the scenario by one time step, with a step size equal to the inverse of the update rate.

This argument specifies the UpdateRate property.

Data Types: double

StopTime — Scenario stop time

Inf (default) | nonnegative scalar

Scenario stop time, specified as a nonnegative scalar in seconds. A scenario stops advancing when the scenario time reaches the stop time.

This argument specifies the StopTime property.

Data Types: double

HistoryBufferSize — Maximum number of stored UAV platform poses

100 (default) | positive integer greater than 1

Maximum number of stored UAV platform poses, specified as a positive integer greater than 1.

At each time step, the scenario stores the UAV platform poses. Once it contains the maximum number of stored UAV platform poses, the scenario stops storing additional UAV poses.

This argument specifies the HistoryBufferSize property.

Data Types: double

ReferenceLocation — Scenario origin in geodetic coordinates

[0 0 0] (default) | vector of form [latitude longitude altitude]

Scenario origin in geodetic coordinates, specified as a vector of the form [latitude longitude altitude]. The values of latitude and longitude specify the geodetic location of the origin in degrees, and altitude specifies the height of the origin above the WGS84 reference ellipsoid in meters.

This argument specifies the ReferenceLocation property.

Data Types: double

MaxNumFrames — Maximum number of frames in scenario

10 (default) | positive integer

Maximum number of frames in the scenario, specified as a positive integer. The combined number of inertial, UAV platform, and sensor frames in the scenario must be less than or equal to the maximum number of frames.

This argument specifies the MaxNumFrames property.

Data Types: double

Properties

UpdateRate — Scenario update rate

10 (default) | positive scalar

This property is read-only after object creation.

Scenario update rate, represented as a positive scalar in Hz.

Data Types: double

StopTime — Scenario stop time

Inf (default) | nonnegative scalar

This property is read-only after object creation.

Scenario stop time, represented as a nonnegative scalar in seconds.

Data Types: double

HistoryBufferSize — Maximum number of stored UAV platform poses

100 (default) | positive integer greater than 1

This property is read-only after object creation.

Maximum number of stored UAV platform poses, represented as a positive integer greater than 1.

Data Types: double

ReferenceLocation — Scenario origin in geodetic coordinates

[0 0 0] (default) | vector of form [latitude longitude altitude]

This property is read-only after object creation.

Scenario origin in geodetic coordinates, represented as a vector of the form [latitude longitude altitude]. latitude and longitude are in degrees, and altitude is in meters.

Data Types: double

MaxNumFrames — Maximum number of frames in scenario

10 (default) | positive integer

This property is read-only after object creation.

Maximum number of frames in the scenario, represented as a positive integer.

Data Types: double

CurrentTime — Current scenario time

Read-only: nonnegative scalar

This property is read-only.

Current scenario time, represented as a nonnegative scalar.

Data Types: double

IsRunning — Scenario activity state

Read-only: true or 1 | false or 0

This property is read-only.

Scenario activity state, represented as a logical 1 (true) or 0 (false). A value of. true indicates that the scenario is running and has not yet reached the scenario stop time, and that the scenario is running. A value of false indicates that the scenario is not running.

Data Types: logical

TransformTree — Scenario frames transformation tree

Read-only: tranformTree object

This property is read-only.

Scenario frames transformation tree, represented as a transformTree object. The transform tree contains the transformation information between the inertial, platform, and sensor frames in the scenario.

InertialFrames — Names of inertial frames in scenario

Read-only: ["ENU" "NED"] (default) | vector of strings

This property is read-only.

Names of the inertial frames in the scenario, represented as a vector of strings.

By default, the inertial frame names are "ENU" and "NED", which correspond to inertial frames with the east-north-up and north-east-down orientations, respectively. To add a new inertial frame to the scenario, use the addInertialFrame function.

Data Types: string

Platforms — UAV platforms in scenario

Read-only: array of uavPlatform objects

This property is read-only.

UAV platforms in the scenario, represented as an array of uavPlatform objects. To add a UAV platform to the scenario, create a uavPlatform object.

Meshes — Static meshes in scenario

Read-only: cell array of extendedObjectMesh objects

This property is read-only.

Static meshes in the scenario, represented as a cell array of extendedObjectMesh objects.

Each extendedObjectMesh represents a static mesh in the scenario. To add a mesh to the UAV scenario, use the addMesh function.

Object Functions

setup	Prepare UAV scenario for simulation
addCustomTerrain	Add custom terrain data
addMesh	Add new static mesh to UAV scenario
addInertialFrame	Define new inertial frame in UAV scenario
advance	Advance UAV scenario simulation by one time step
copy	Copy UAV scenario
updateSensors	Update sensor readings in UAV scenario
removeCustomTerrain	Remove custom terrain data
restart	Reset simulation of UAV scenario
show	Visualize UAV scenario in 2-D
show3D	Visualize UAV scenario in 3-D
terrainHeight	Returns terrain height in UAV scenarios
targetPoses	Find positions, orientations, velocities, angular velocities, and accelerations of targets relative to ego UAV platform

Examples

Create and Simulate UAV Scenario

Create a UAV scenario, and specify the update rate, stop time, and reference location.

scene = uavScenario(UpdateRate=200,StopTime=2,ReferenceLocation=[46, 42, 0]); 

Add an inertial frame MAP to the scenario.

addInertialFrame(scene,"ENU","MAP",trvec2tform([1 0 0])); 

Add one ground mesh and two cylindrical obstacle meshes to the scenario.

addMesh(scene,"Polygon",{[-100 0; 100 0; 100 100; -100 100],[-5 0]},[0.3 0.3 0.3]);
addMesh(scene,"Cylinder",{[20 10 10],[0 30]},[0 1 0]); 
addMesh(scene,"Cylinder",{[46 42 5],[0 20]},[0 1 0],UseLatLon=true); 

Add a UAV platform with a specified waypoint trajectory to the scenario.

traj = waypointTrajectory(Waypoints=[0 -20 -5; 20 -20 -5; 20 0 -5],TimeOfArrival=[0 1 2]); 
uavPlat = uavPlatform("UAV",scene,Trajectory=traj); 

Add a mesh to the UAV platform.

updateMesh(uavPlat,"quadrotor",{4},[1 0 0],eul2tform([0 0 pi])); 
addGeoFence(uavPlat,"Polygon",{[-50 0;50 0;50 50;-50 50],[0 100]},true,ReferenceFrame="ENU"); 

Attach an INS sensor to the UAV platform.

insModel = insSensor; 
ins = uavSensor("INS",uavPlat,insModel,MountingLocation=[4 0 0]); 

Visualize the scenario in 3D.

ax = show3D(scene); 
axis(ax,"equal"); 

Set up and start the scenario.

% Set up scenario
setup(scene); 

% Start scenario
while advance(scene) 
    % Update sensor readings 
    updateSensors(scene); 
    
    % Visualize the scenario 
    show3D(scene,"Parent",ax,"FastUpdate",true); 
    drawnow limitrate 
end 

Add Terrain and Building Meshes to UAV Scenario

Add Terrain Mesh to UAV Scenario

Create a UAV scenario with a specified reference location.

scenario = uavScenario(ReferenceLocation=[39.5 -105.5 0]);

Add custom terrain data from the n39_w106_3arc_v2.dt1 DTED file.

addCustomTerrain("CustomTerrain","n39_w106_3arc_v2.dt1");

Add the terrain mesh to the UAV scenario.

addMesh(scenario,"terrain",{"CustomTerrain",[-200 200],[-200 200]},[0.6 0.6 0.6]);

Show the UAV scenario.

show3D(scenario);

Add Building Mesh to UAV Scenario

Specify the building mesh centers, heights, and boundaries.

Tip: Use the terrainHeight function to obtain ground height for each build base.

buildingCenters = [-50 -50;100 100];
buildingHeights = [30 100];
buildingBoundary = [-25 -25; -25 50; 50 50; 50 -25];

Add the building mesh to the UAV scenario.

for idx = 1:size(buildingCenters,1)
    buildingVertices = buildingBoundary+buildingCenters(idx,:);
    buildingBase = min(terrainHeight(scenario,buildingVertices(:,1),buildingVertices(:,2)));
    addMesh(scenario,"polygon",{buildingVertices,buildingBase+[0 buildingHeights(idx)]},[0.3922 0.8314 0.0745]);
end

Show the UAV scenario.

show3D(scenario);
view([0 15])

Remove Custom Terrain

Remove the custom terrain that was imported.

removeCustomTerrain("CustomTerrain")

Version History

Introduced in R2020b