coverageConfig

Sensor and emitter coverage configuration

collapse all in page

Syntax

configs = coverageConfig(sc)
configs = coverageConfig(sensors)
configs = coverageConfig(sensors,positions,orientations)

Description

configs = coverageConfig(sc) returns sensor coverage configuration structures in a tracking scenario sc.

Tip

If the scenario contains any sonarSensor in 'monostatic' mode, you must step the tracking scenario sc before using the coverageConfig function to return an accurate coverage configuration.

example

configs = coverageConfig(sensors) returns sensor coverage configuration structures from a list of sensors and emitters.

configs = coverageConfig(sensors,positions,orientations) allows you to specify the position and orientation of the platform on which each sensor or emitter is mounted.

Examples

collapse all

Open Live Script

Create a radar sensor and a radar emitter.

radar = fusionRadarSensor(1,'Rotator');
emitter = radarEmitter(2);

Obtain coverage configurations based on sensor's position information.

cfg = coverageConfig({radar, emitter})
cfg=2×1 struct array with fields:
    Index
    LookAngle
    FieldOfView
    ScanLimits
    Range
    Position
    Orientation


cfg2 = coverageConfig({radar, emitter},[1000 0 0 ; 0 1000 0])
cfg2=2×1 struct array with fields:
    Index
    LookAngle
    FieldOfView
    ScanLimits
    Range
    Position
    Orientation

Input Arguments

collapse all

Tracking scenario, specified as a trackingScenario object.

Sensors or emitters, specified as a sensor or emitter object, or an N-element cell array of sensor or emitter objects, where N is the number of sensor or emitter objects. The applicable sensor or emitter objects include fusionRadarSensor, radarEmitter, sonarSensor, sonarEmitter, irSensor, and monostaticLidarSensor.

Position of sensor or emitter's platform, specified as an N-by-3 matrix of scalars. The ith row of the matrix is the [x, y, z] Cartesian coordinates of the ith sensor or emitter's platform.

Orientation of sensor or emitter's platform, specified as an N-by-1 vector of quaternions. The ith quaternion in the vector represents the rotation from the global or scenario frame to the ith sensor or emitter's platform frame.

Output Arguments

collapse all

Sensor or emitter coverage configurations, returned as an N-element array of configuration structures. N is the number of sensor or emitter objects specified in the sensors input. Each configuration structure contains seven fields:

Fields of configurations

FieldDescription
Index A unique integer to identify sensors or emitters.
LookAngle

Current boresight angles of the sensor or emitter, returned as:

  • A scalar in degrees if scanning only in the azimuth direction.

  • A two-element vector [azimuth; elevation] in degrees if scanning in both the azimuth and elevation directions.

FieldOfViewField of view of the sensor or emitter, returned as a two-element vector [azimuth; elevation] in degrees.
ScanLimits

Minimum and maximum angles the sensor or emitter can scan from its Orientation.

  • If the sensor or emitter can only scan in the azimuth direction, the limits are returned as a 1-by-2 row vector [minAz, maxAz] in degrees.

  • If the sensor or emitter can also scan in the elevation direction, the limits are returned as a 2-by-2 matrix [minAz, maxAz; minEl, maxEl] in degrees.

Note

ScanLimits does not support sonarSensor in 'monostatic' mode.

RangeRange of the beam and coverage area of the sensor or emitter in meters.
PositionOrigin position of the sensor or emitter, returned as a three-element vector [X, Y, Z].
OrientationRotation transformation from the scenario or global frame to the sensor or emitter mounting frame, returned as a quaternion.

You can use configs to plot the sensor coverage in a theaterPlot using its plotCoverage (Radar Toolbox) object function.

Note

The Index field is returned as a positive integer if the input is a sensor object, such as a fusionRadarSensor object. The Index field is returned as negative integer if the input is an emitter object, such as a radarEmitter object.

Version History

Introduced in R2020a

See Also

| |