How to fix altitude bias of fusionRadarSeneor detections?

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Stav Danino
Stav Danino 2022 年 11 月 10 日
コメント済み: Stav Danino 2022 年 11 月 18 日
When I simulate a geoTrajectory trackingScenario with fusionRadarSensor, I recive some bias in the altitude of the detections. Changing the biasFraction to 0.0 didn't help. If it happens because the radar simulates refraction, I would like to know how it can be disabled/corrected. I would like to use those detections for tracking algorithms development and this bias would interefere with performance evaluation of the trackers.
Thanks :)


Elad Kivelevitch
Elad Kivelevitch 2022 年 11 月 10 日
Hi Stav,
As they say in Hebrew: It's not a bug, it's a feature :-)
The altitude bias is indeed caused by atmospheric refraction. We included it in the model to provide exactly the kind of "difficult" test case for trackers that you have encountered. There is also a range bias simulated due to the refraction. Reference [1] in this doc page provides more information about the refraction model and how biases are added.
I believe that we do not have a way to disable atmospheric refraction in the radar model. However, one way to mitigate that is to take the detections returned by the fusionRadarSensor object and use refraction tables from a text book to "undo" the refraction and try to estimate where the detection should really be. From what I hear from my radar colleagues, this is the workflow that tracking/radar engineers are expected to follow when dealing with refraction biases from real radar systems.
FYI: The BiasFraction has nothing to do with simulating refraction biases. It is used to put a lower bound on the detection noise to satisfy the Cramer-Row Lower Bound for high SNR targets.
  3 件のコメント
Stav Danino
Stav Danino 2022 年 11 月 18 日
Thanks! its exactly the solution I hoped for.


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