updateSensors

Update sensor readings in UAV scenario

Since R2020b

Syntax

updateSensors(scene)

Description

updateSensors(scene) updates all sensor readings based on latest states of all platforms in the UAV scenario, scene.

Examples

collapse all

Create and Simulate UAV Scenario

Open Live Script

Create a UAV scenario and set its local origin.

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

Add an inertial frame called MAP to the scenario.

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

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

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

Create a UAV platform with a specified waypoint trajectory in the scenario. Define the mesh for the UAV platform.

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

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

Visualize the scenario in 3-D.

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

Simulate the scenario.

setup(scene); 
while advance(scene) 
    % Update sensor readings 
    updateSensors(scene); 

    % Visualize the scenario 
    show3D(scene,"Parent",ax,"FastUpdate",true); 
    drawnow limitrate 
end

Figure contains an axes object. The axes object with xlabel East (m), ylabel North (m) contains 4 objects of type patch.