updateSensors

Update sensor readings in UAV scenario

Syntax

updateSensors(scene)

Description

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

Examples

Create and Simulate UAV Scenario

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 

Input Arguments

scene — UAV scenario

uavScenario object

UAV scenario, specified as a uavScenario object.

Version History

Introduced in R2020b