detect

Collect detections from all sensors in radar scenario

Since R2021a

Syntax

detections = detect(scenario)

detections = detect(scenario,signals)

detections = detect(scenario,signals,emitterConfigs)

[detections,sensorConfigs] = detect(___)

[___,sensorConfigPIDs] = detect(___)

Description

detections = detect(scenario) reports the detections from all sensors mounted on every platform in the radar scenario, scenario. Use this syntax only when none of the sensors require information on the signals present in the scenario.

detections = detect(scenario,signals) reports the detections from all sensors when at least one sensor requires information on the signals present in the scenario.

detections = detect(scenario,signals,emitterConfigs) reports the detections from all sensors when at least one sensor also requires information on the emitter configurations in the scenario.

[detections,sensorConfigs] = detect(___) also returns the configurations of each sensor at the detection time. This output argument can be used with any of the previous syntaxes.

[___,sensorConfigPIDs] = detect(___) also returns all platform IDs corresponding to the sensor configurations, sensorConfigs. This output argument can be used with any of the previous syntaxes.

Examples

Obtain Detections from Two Platforms in Radar Scenario

Set the seed of the random number generator for reproducible results.

s = rng('default');

Create a radar scenario.

rs = radarScenario('UpdateRate',1);

Create the first platform and mount one emitter and one sensor on it.

plat1 = platform(rs);
plat1.Trajectory.Position = [0,0,0];
emitter1 = radarEmitter(1,'UpdateRate',1);
sensor1 = radarSensor(1,'DetectionMode','Monostatic','EmitterIndex',1,'RangeResolution',1);
plat1.Emitters = emitter1;
plat1.Sensors = sensor1;

Create the second platform and mount one emitter and one sensor on it.

plat2 = platform(rs);
plat2.Trajectory.Position = [100,0,0];
emitter2 = radarEmitter(2,'UpdateRate',1);
sensor2 = radarSensor(2,'DetectionMode','Monostatic','EmitterIndex',2,'RangeResolution',1);
plat2.Emitters = emitter2;
plat2.Sensors = sensor2;

Advance the radar scenario by one time step.

advance(rs);

Transmit and propagate the emissions.

[emtx,emitterConfs,emitterConfPIDs] = emit(rs);
emprop = propagate(rs,emtx,'HasOcclusion',true);

Collect the signals.

[dets,sensorConfs,sensorConfPIDs] = detect(rs,emprop,emitterConfs);

Display the detection results. The sensor on platform 1 detects the second platform.

detection = dets{1}

detection = 
  objectDetection with properties:

                     Time: 0
              Measurement: [3×1 double]
         MeasurementNoise: [3×3 double]
              SensorIndex: 1
            ObjectClassID: 0
    ObjectClassParameters: []
    MeasurementParameters: [1×1 struct]
         ObjectAttributes: {[1×1 struct]}

detectedPlatform = detection.ObjectAttributes{1}

detectedPlatform = struct with fields:
     TargetIndex: 2
    EmitterIndex: 1
             SNR: 82.0123

Return the random number generator to its previous state.

rng(s)

Input Arguments

scenario — Radar scenario

radarScenario object

Radar scenario, specified as a radarScenario object.

signals — Signal emissions

cell array of signal emission object

Signal emissions, specified as a cell array of signal emission objects, such as radarEmission objects.

emitterConfigs — Emitter configurations

array of emitter configuration structures

Emitter configurations, specified as an array of emitter configuration structures. Each structure contains these fields.

Field	Description
EmitterIndex	Unique emitter index, returned as a positive integer.
IsValidTime	Valid emission time, returned as 0 or 1. IsValidTime is 0 when emitter updates are requested at times that are between update intervals specified by the UpdateInterval property.
IsScanDone	Whether the emitter has completed a scan, returned as true or false.
FieldOfView	Field of view of the emitter, returned as a two-element vector [azimuth; elevation] in degrees.
MeasurementParameters	Emitter measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current emitter frame.

Output Arguments

detections — Detections

cell array of objectDetection objects

Detections, returned as a cell array of objectDetection objects.

sensorConfigs — Sensor configurations

array of sensor configuration structures

Sensor configurations, returned as an array of sensor configuration structures. Each structure contains these fields.

Field	Description
SensorIndex	Unique sensor index, returned as a positive integer.
IsValidTime	Valid detection time, returned as true or false. IsValidTime is false when detection updates are requested between update intervals specified by the update rate.
IsScanDone	IsScanDone is true when the sensor has completed a scan.
FieldOfView	Field of view of the sensor, returned as a 2-by-1 vector of positive real values, [azfov;elfov]. azfov and elfov represent the field of view in azimuth and elevation, respectively.
RangeLimits	Minimum and maximum range of sensor, in meters, specified as a 1-by-2 nonnegative real-valued vector of the form [rmin,rmax].
RangeRateLimits	Minimum and maximum range rate of sensor, in meters per second, specified as a 1-by-2 real-valued vector of the form [rrmin,rrmax].
MeasurementParameters	Sensor measurement parameters, returned as an array of structures containing the coordinate frame transforms needed to transform positions and velocities in the top-level frame to the current sensor frame.

sensorConfigPIDs — Platform IDs for sensor configurations

array of positive integers

Platform IDs for sensor configurations in the sensorConfigs output argument, returned as an array of positive integers.

Version History

Introduced in R2021a