Trajectory and Scenario Generation

Ground-truth waypoint- and rate-based trajectories and scenarios

Generate ground-truth trajectories to drive sensor models using the kinematicTrajectory, waypointTrajectory, and geoTrajectory System objects. Simulate tracking of multiple platforms in a 3-D arena using trackingScenario. Design tracking scenarios, configure platforms and sensors, and generate synthetic object detections using the Tracking Scenario Designer app.

Functions

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Trajectory Generation

`kinematicTrajectory`	Rate-driven trajectory generator
`waypointTrajectory`	Waypoint trajectory generator
`geoTrajectory`	Waypoint trajectory in geodetic coordinates
`polynomialTrajectory`	Piecewise-polynomial trajectory generator (Since R2023a)

Scenario Generation

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

Apps

Tracking Scenario Player	Play tracking scenario and tracking scenario recording (Since R2023a)
Tracking Scenario Designer	Design tracking scenarios, configure platforms and sensors, and generate synthetic object detections

Blocks

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

Topics

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. (Since R2023a)

Featured Examples

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:

Open Live Script

Benchmark Trajectories for Multi-Object Tracking

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

Open Script

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.

Open Live Script

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.

Since R2021b
Open Live Script

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

Since R2022a
Open Live Script