How to modify radar measurement noise and how to take into consideration radar measurement period uncertainty

I want to generate radar simulation environment using radarDataGenerator or fusionRadarSensor. Adding measurement noise is proper by enabling HasNoise property. However, how can I modify the extent of the noise (more or less disruptive)?

In addition, is it possible to add time period uncertainty? I want to make radar data generation time period a little uncertain.

Answer 1

[Elad Kivelevitch]

Hi Said,

For the noise, there are a few options:

1. You can modify the ReferenceRange and ReferenceRCS. These two properties control the radar loop gain, which controls the signal-to-noise ratio and therefore the reported noise.
2. When you create platforms, try using different rcsSignature values for different targets. This will also control the SNR and reported noise for each platform.
3. You can loop through the objectDetection array and directly modify the MeasurementNoise properties.

For the question about time: I am not sure what you mean exactly so I will try to answer two options that I understand.

1. If you mean that the radar has uncertainty in the clock (therefore reported time could be noisy): You can loop through the detections array and modify the Time value with a random noise.
2. If you mean that the radar connection to a tracker might cause a delay in when the detections arrive at the tracker (also known as out-of-sequence measurements): In this case, you can use the objectDetectionDelay to introduce time delays. See this example: https://www.mathworks.com/help/fusion/ug/how-to-simulate-oosm.html

Elad

[Said Kemal]

Thank you Mr. Kivelevitch, the information you've shared is very helpful. I meant the first option by asking the question about time.