record

Record simulation of radar scenario

Since R2021a

Syntax

rec = record(scenario)

rec = record(scenario,format)

rec = record(___,Name,Value)

Description

rec = record(scenario) returns a record, rec, of the evolution of the radar scenario simulation, scenario. The function starts from the beginning of the simulation and stores the record until the end of the simulation. A scenario simulation ends when either the StopTime of the scenario is reached or any platform in the scenario has finished its trajectory as specified by the Trajectory property.

Note

The record function only records detections generated from sensors contained in the scenario and does not record tracks generated from a radarDataGenerator object contained in the scenario. radarDataGenerator generates detections when you set its TargetReportFormat property to 'Detections' or 'Clustered Detections' and generates tracks when you set its TargetReportFormat property to 'Tracks'.

rec = record(scenario,format) also specifies the format of the returned platform orientation.

rec = record(___,Name,Value) specifies additional recording quantities using name-value arguments.

Examples

Record Radar Scenario

Create a new radar scenario.

scenario = radarScenario;

Add a platform that follows a 25 m trajectory along the x-axis at 20 m/s.

plat = platform(scenario);
plat.Trajectory = waypointTrajectory('Waypoints',[0 0 0; 25 0 0], ...
    'TimeOfArrival',[0 25/20]);

Run the simulation and record the results.

r = record(scenario);

Show the platform states at the initial time.

r(1)

ans = struct with fields:
    SimulationTime: 0
             Poses: [1x1 struct]

r(1).Poses

ans = struct with fields:
         PlatformID: 1
            ClassID: 0
           Position: [0 0 0]
           Velocity: [20 0 0]
       Acceleration: [0 0 0]
        Orientation: [1x1 quaternion]
    AngularVelocity: [0 0 0]

Show the platform states at the final time.

r(end)

ans = struct with fields:
    SimulationTime: 1.2000
             Poses: [1x1 struct]

r(end).Poses

ans = struct with fields:
         PlatformID: 1
            ClassID: 0
           Position: [24 0 0]
           Velocity: [20 0 0]
       Acceleration: [0 0 0]
        Orientation: [1x1 quaternion]
    AngularVelocity: [0 0 0]

Input Arguments

scenario — Radar scenario

radarScenario object

Radar scenario, specified as a radarScenario object.

format — Pose orientation format

'quaternion' (default) | 'rotmat'

Pose orientation format, specified as 'quaternion' or 'rotmat'. When specified as 'quaternion', the Orientation field of the platform pose structure is a quaternion. When specified as 'rotmat', the Orientation field is a rotation matrix.

Data Types: char | string

Name-Value Arguments

Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

Example: 'CoordinateSystem','Geodetic' reports recorded poses using geodetic coordinates

IncludeEmitters — Enable recording emission information

false (default) | true

Enable recording emission information, specified as true or false. When specified as true, the rec output contains Emissions, EmitterConfigurations, EmitterPlatformIDs, and CoverageConfig fields.

IncludeSensors — Enable recording sensor information

false (default) | true

Enable recording sensor information, specified as true or false. When specified as true, the rec output contains Detections, SensorConfiguration, SensorPlatformIDs, and CoverageConfig fields.

InitialSeed — Initial random seed for recording

current random seed (default) | positive integer

Initial random seed for recording, specified as a positive integer. If specified as a positive integer, the function assigns this number to the random number generator "Twister" before the recording and resets the random number generator at the end of the recording.

HasOcclusion — Enable occlusion in signal transmission

true (default) | false

Enable occlusion in signal transmission, specified as true or false. When specified as true, the function accounts for the effect of occlusion in radar emission propagation.

RecordingFormat — Format of recording

'Struct' (default) | 'Recording'

Format of recording, specified as 'Struct' or 'Recording'. When specified as 'Struct', the rec output is an array of structures. When specified as 'Recording', the rec output is a radarScenarioRecording object.

CoordinateSystem — Coordinate system to report recorded poses

'Cartesian' (default) | 'Geodetic'

Coordinate system to report recorded positions, specified as one of these values.

• 'Cartesian' — Report recorded poses using Cartesian coordinates in the Earth-Centered-Earth-Fixed coordinate frame.

• 'Geodetic' — Report recorded positions using geodetic coordinates (latitude, longitude, and altitude). Report recorded orientation, velocity, and acceleration in the local reference frame of each platform (North-East-Down by default) corresponding to the current waypoint.

Specify this argument only when the IsEarthCentered property of the radar scenario, scenario, is set to true.

Output Arguments

rec — Records of platform states during simulation

M-by-1 array of structures | radarScenarioRecording object

Records of platform states during the simulation, returned as an M-by-1 array of structures if the RecordingFormat is specified as 'struct' (default) or a radarScenarioRecording object if the RecordingFormat is specified as 'Recording'. M is the number of time steps in the simulation.

Each record contains the simulation time step and the recorded information at that time. The record structure has at least two fields: SimulationTime and Poses. It can also have other optional fields depending on the values of the 'IncludeEmitters' and 'IncludeSensors' name-value arguments.

The SimulationTime field contains the simulation time of the record. Poses is an N-by-1 array of structures, where N is the number of platforms. Each Poses structure contains fields that represent the ground truth state of each platform in the simulation.

Field	Description
PlatformID	Unique identifier for the platform, specified as a positive integer. This is a required field with no default value.
ClassID	User-defined integer used to classify the type of target, specified as a nonnegative integer. Zero is reserved for unclassified platform types and is the default value.
Position	Position of target in scenario coordinates, specified as a real-valued 1-by-3 row vector. If the coordinateSystem argument is specified as 'Cartesian', then Position is a three-element vector of Cartesian position coordinates in meters. If the coordinateSystem argument is specified as 'Geodetic', then Position is a three-element vector of geodetic coordinates: latitude in degrees, longitude in degrees, and altitude in meters.
Velocity	Velocity of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector. Units are meters per second. The default value is [0 0 0].
Acceleration	Acceleration of the platform in scenario coordinates, specified as a 1-by-3 row vector in meters per second squared. The default value is [0 0 0].
Orientation	Orientation of the platform with respect to the local scenario navigation frame, specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation defines the frame rotation from the local navigation coordinate system to the current platform body coordinate system. Units are dimensionless. The default value is quaternion(1,0,0,0).
AngularVelocity	Angular velocity of the platform in scenario coordinates, specified as a real-valued 1-by-3 vector. The magnitude of the vector defines the angular speed. The direction defines the axis of clockwise rotation. Units are degrees per second. The default value is [0 0 0].

The rec output contains these optional fields.

Field	Description
Emissions	Cell array of emissions (such as radarEmission objects) in the scenario
EmitterConfigurations	Structure array of emitter configurations for each emitter
EmitterPlatformIDs	Numeric array of platform IDs for each emitter
Detections	Cell array of objectDetection objects generated by the sensors in the scenario
SensorConfigurations	Structure array of sensor configurations for each sensor
SensorPlatformIDs	Numeric array of platform IDs for each sensor
CoverageConfig	Structure array of coverage configurations for each sensor or emitter

Each emitter configuration 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.

Each sensor configuration 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.

Each coverage configuration structure contains these fields.

Field	Description
Index	A unique integer to distinguish sensors or emitters. In practice, you can use SensorIndex or EmitterIndex property of the sensor or emitter objects, respectively.
LookAngle	The current boresight angles of the sensor or emitter, specified as one of these values: A scalar in degrees if scanning only in the azimuth direction. A two-element vector [azimuth; elevation] in degrees if scanning both in the azimuth and elevation directions.
FieldOfView	The field of view of the sensor or emitter, specified as a two-element vector [azimuth; elevation] in degrees.
ScanLimits	The minimum and maximum angles the sensor or emitter can scan from its Orientation. If the sensor or emitter can scan only in the azimuth direction, then specify the limits as a 1-by-2 row vector [minAz, maxAz] in degrees. If the sensor or emitter can also scan in the elevation direction, then specify the limits as a 2-by-2 matrix [minAz, maxAz; minEl, maxEl] in degrees.
Range	The range of the beam and coverage area of the sensor or emitter in meters.
Position	The origin position of the sensor or emitter, specified as a three-element vector [X, Y, Z] on the axes of the theater plot.
Orientation	The rotation transformation from the scenario or global frame to the sensor or emitter mounting frame, specified as a rotation matrix, a quaternion, or three Euler angles in ZYX sequence.

Version History

Introduced in R2021a