monostaticRadarSensor

Generate radar detections for tracking scenario

Description

The monostaticRadarSensor System object™ generates detections of targets by a monostatic surveillance scanning radar. You can use the monostaticRadarSensor object in a scenario containing moving and stationary platforms such as one created using trackingScenario. The monostaticRadarSensor object can simulate real detections with added random noise and also generate false alarm detections. In addition, you can use the detections generated by this object as input to trackers such as trackerGNN or trackerTOMHT.

This object enable you to configure a scanning radar. A scanning radar changes its look angle by stepping the mechanical and electronic position of the beam in increments of the angular span specified in the FieldOfView property. The radar scans the total region in azimuth and elevation defined by the radar mechanical and electronic scan limits, MechanicalScanLimits and ElectronicScanLimits. If the scanning limits for azimuth or elevation are set to [0 0], then no scanning is performed along that dimension for that scan mode. If the maximum mechanical scan rate for azimuth or elevation is set to zero, then no mechanical scanning is performed along that dimension.

Using a single-exponential mode, the radar computes range and elevation biases caused by propagation through the troposphere. A range bias means that measured ranges are greater than the line-of-sight range to the target. Elevation bias means that the measured elevations are above their true elevations. Biases are larger when the line-of-sight path between the radar and target passes through lower altitudes because the atmosphere is thicker.

To generate radar detections:

Create the monostaticRadarSensor object and set its properties.
Call the object with arguments, as if it were a function.

To learn more about how System objects work, see What Are System Objects? (MATLAB).

Creation

Syntax

sensor = monostaticRadarSensor(SensorIndex)

sensor = monostaticRadarSensor(SensorIndex,Name,Value)

sensor = monostaticRadarSensor(SensorIndex,'No scanning')

sensor = monostaticRadarSensor(SensorIndex,'Raster')

sensor = monostaticRadarSensor(SensorIndex,'Rotator')

sensor = monostaticRadarSensor(SensorIndex,'Sector')

Description

sensor = monostaticRadarSensor(SensorIndex) creates a radar detection generator object with a specified sensor index, SensorIndex, and default property values.

example

sensor = monostaticRadarSensor(SensorIndex,Name,Value) sets properties using one or more name-value pairs. Enclose each property name in quotes. For example, monostaticRadarSensor(1,'DetectionCoordinates','Sensor rectangular') creates a radar detection generator that reports detections in the sensor Cartesian coordinate system with sensor index equal to 1.

sensor = monostaticRadarSensor(SensorIndex,'No scanning') is a convenience syntax that creates a monostaticRadarSensor that only points along the radar antenna boresight direction. No mechanical or electronic scanning is performed. This syntax sets the ScanMode property to 'No scanning'.

sensor = monostaticRadarSensor(SensorIndex,'Raster') is a convenience syntax that creates a monostaticRadarSensor object that mechanically scans a raster pattern. The raster span is 90° in azimuth from –45° to +45° and in elevation from the horizon to 10° above the horizon. See Convenience Syntaxes for the properties set by this syntax.

sensor = monostaticRadarSensor(SensorIndex,'Rotator') is a convenience syntax that creates a monostaticRadarSensor object that mechanically scans 360° in azimuth by mechanically rotating the antenna at a constant rate. When you set HasElevation to true, the radar antenna mechanically points towards the center of the elevation field of view. See Convenience Syntaxes for the properties set by this syntax.

sensor = monostaticRadarSensor(SensorIndex,'Sector') is a convenience syntax to create a monostaticRadarSensor object that mechanically scans a 90° azimuth sector from –45° to +45°. Setting HasElevation to true points the radar antenna towards the center of the elevation field of view. You can change the ScanMode to 'Electronic' to electronically scan the same azimuth sector. In this case, the antenna is not mechanically tilted in an electronic sector scan. Instead, beams are stacked electronically to process the entire elevation spanned by the scan limits in a single dwell. See Convenience Syntaxes for the properties set by this syntax.

Properties

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Unless otherwise indicated, properties are nontunable, which means you cannot change their values after calling the object. Objects lock when you call them, and the release function unlocks them.

If a property is tunable, you can change its value at any time.

For more information on changing property values, see System Design in MATLAB Using System Objects (MATLAB).

`SensorIndex` — Unique sensor identifier
positive integer

Unique sensor identifier, specified as a positive integer. This property distinguishes detections that come from different sensors in a multi-sensor system. When creating a monostaticRadarSensor system object, you must either specify the SensorIndex as the first input argument in the creation syntax, or specify it as the value for the SensorIndex property in the creation syntax.

Data Types: double

`UpdateRate` — Sensor update rate
`1` (default) | positive scalar

Sensor update rate, specified as a positive scalar. This interval must be an integer multiple of the simulation time interval defined by trackingScenario. The trackingScenario object calls the radar scanning sensor at simulation time intervals. The radar generates new detections at intervals defined by the reciprocal of the UpdateRate property. Any update requested to the sensor between update intervals contains no detections. Units are in hertz.

Example: 5

Data Types: double

`MountingLocation` — Sensor location on platform
`[0 0 0]` (default) | 1-by-3 real-valued vector

Sensor location on platform, specified as a 1-by-3 real-valued vector. This property defines the coordinates of the sensor with respect to the platform origin. The default value specifies that the sensor origin is at the origin of its platform. Units are in meters.

Example: [.2 0.1 0]

Data Types: double

`MountingAngles` — Orientation of sensor
`[0 0 0]` (default) | 3-element real-valued vector

Orientation of the sensor with respect to the platform, specified as a three-element real-valued vector. Each element of the vector corresponds to an intrinsic Euler angle rotation that carries the body axes of the platform to the sensor axes. The three elements define the rotations around the z-, y-, and x-axes, in that order. The first rotation rotates the platform axes around the z-axis. The second rotation rotates the carried frame around the rotated y-axis. The final rotation rotates the frame around the carried x-axis. Units are in degrees.

Example: [10 20 -15]

Data Types: double

`FieldOfView` — Fields of view of sensor
`[10;50]` | 2-by-1 vector of positive scalar

Fields of view of sensor, specified as a 2-by-1 vector of positive scalars in degree, [azfov;elfov]. The field of view defines the total angular extent spanned by the sensor. The azimuth filed of view azfov must lie in the interval (0,360]. The elevation filed of view elfov must lie in the interval (0,180].

Example: [14;7]

Data Types: double

`HasRangeAmbiguities` — Enable range ambiguities
`false` (default) | `true`

Enable range ambiguities, specified as false or true. Set this property to true to enable range ambiguities by the sensor. In this case, the sensor cannot resolve range ambiguities and target ranges beyond the MaxUnambiguousRange are wrapped into the interval [0 MaxUnambiguousRange]. When false, targets are reported at their unambiguous range.

Data Types: logical

`MaxUnambiguousRange` — Maximum unambiguous detection range
`100e3` (default) | positive scalar

Maximum unambiguous range, specified as a positive scalar. Maximum unambiguous range defines the maximum range for which the radar can unambiguously resolve the range of a target. When HasRangeAmbiguities is set to true, targets detected at ranges beyond the maximum unambiguous range are wrapped into the range interval [0,MaxUnambiguousRange]. This property applies to true target detections when you set the HasRangeAmbiguities property to true.

This property also applies to false target detections when you set the HasFalseAlarms property to true. In this case, the property defines the maximum range for false alarms.

Units are in meters.

Example: 5e3

Dependencies

To enable this property, set the HasRangeAmbiguities property to true or set the HasFalseAlarms property to true.

Data Types: double

`HasRangeRateAmbiguities` — Enable range-rate ambiguities
`false` (default) | `true`

Enable range-rate ambiguities, specified as false or true. Set to true to enable range-rate ambiguities by the sensor. When true, the sensor does not resolve range rate ambiguities and target range rates beyond the MaxUnambiguousRadialSpeed are wrapped into the interval [-MaxUnambiguousRadialSpeed,MaxUnambiguousRadialSpeed]. When false, targets are reported at their unambiguous range rate.

Dependencies

To enable this property, set the HasRangeRate property to true.

Data Types: logical

`MaxUnambiguousRadialSpeed` — Maximum unambiguous radial speed
`200` (default) | positive scalar

Maximum unambiguous radial speed, specified as a positive scalar. Radial speed is the magnitude of the target range rate. Maximum unambiguous radial speed defines the radial speed for which the radar can unambiguously resolve the range rate of a target. When HasRangeRateAmbiguities is set to true, targets detected at range rates beyond the maximum unambiguous radial speed are wrapped into the range rate interval [-MaxUnambiguousRadialSpeed, MaxUnambiguousRadialSpeed]. This property applies to true target detections when you set HasRangeRateAmbiguities property to true.

This property also applies to false target detections obtained when you set both the HasRangeRate and HasFalseAlarms properties to true. In this case, the property defines the maximum radial speed for which false alarms can be generated.

Units are in meters per second.

Dependencies

To enable this property, set HasRangeRate and HasRangeRateAmbiguities to true and/or set HasRangeRate and HasFalseAlarms to true.

Data Types: double

`ScanMode` — Scanning mode of radar
`'Mechanical'` (default) | `'Electronic'` | `'Mechanical and electronic'` | `'No scanning'`

Scanning mode of radar, specified as 'Mechanical', 'Electronic', 'Mechanical and electronic', or 'No scanning'.

Scan Modes

ScanMode	Purpose
`'Mechanical'`	The radar scans mechanically across the azimuth and elevation limits specified by the `MechanicalScanLimits` property. The scan direction increments by the radar field of view angle between dwells.
`'Electronic'`	The radar scans electronically across the azimuth and elevation limits specified by the `ElectronicScanLimits` property. The scan direction increments by the radar field of view angle between dwells.
`'Mechanical and electronic'`	The radar mechanically scans the antenna boresight across the mechanical scan limits and electronically scans beams relative to the antenna boresight across the electronic scan limits. The total field of regard scanned in this mode is the combination of the mechanical and electronic scan limits. The scan direction increments by the radar field of view angle between dwells.
`'No scanning'`	The radar beam points along the antenna boresight defined by the `MountingAngles` property.

Example: 'No scanning'

`MaxMechanicalScanRate` — Maximum mechanical scan rate
`[75;75]` (default) | nonnegative scalar | real-valued 2-by-1 vector with nonnegative entries

Maximum mechanical scan rate, specified as a nonnegative scalar or real-valued 2-by-1 vector with nonnegative entries.

When HasElevation is true, specify the scan rate as a 2-by-1 column vector of nonnegative entries [maxAzRate; maxElRate]. maxAzRate is the maximum scan rate in azimuth and maxElRate is the maximum scan rate in elevation.

When HasElevation is false, specify the scan rate as a nonnegative scalar representing the maximum mechanical azimuth scan rate.

Scan rates set the maximum rate at which the radar can mechanically scan. The radar sets its scan rate to step the radar mechanical angle by the field of regard. If the required scan rate exceeds the maximum scan rate, the maximum scan rate is used. Units are degrees per second.

Example: [5;10]

Dependencies

To enable this property, set the ScanMode property to 'Mechanical' or 'Mechanical and electronic'.

Data Types: double

`MechanicalScanLimits` — Angular limits of mechanical scan directions of radar
`[0 360;-10 0]` (default) | real-valued 1-by-2 row vector | real-valued 2-by-2 matrix

Angular limits of mechanical scan directions of radar, specified as a real-valued 1-by-2 row vector or a real-valued 2-by-2 matrix. The mechanical scan limits define the minimum and maximum mechanical angles the radar can scan from its mounted orientation.

When HasElevation is true, the scan limits take the form [minAz maxAz; minEl maxEl]. minAz and maxAz represent the minimum and maximum limits of the azimuth angle scan. minEl and maxEl represent the minimum and maximum limits of the elevation angle scan. When HasElevation is false, the scan limits take the form [minAz maxAz]. If you specify the scan limits as a 2-by-2 matrix but set HasElevation to false, the second row of the matrix is ignored.

Azimuthal scan limits cannot span more than 360° and elevation scan limits must lie within the closed interval [-90° 90°]. Units are in degrees.

Example: [-90 90;0 85]

Dependencies

To enable this property, set the ScanMode property to 'Mechanical' or'Mechanical and electronic'.

Data Types: double

`MechanicalAngle` — Current mechanical scan angle
scalar | real-valued 2-by-1 vector

This property is read-only.

Current mechanical scan angle of radar, returned as a scalar or real-valued 2-by-1 vector. When HasElevation is true, the scan angle takes the form [Az; El]. Az and El represent the azimuth and elevation scan angles, respectively, relative to the mounted angle of the radar on the platform. When HasElevation is false, the scan angle is a scalar representing the azimuth scan angle.

Dependencies

To enable this property, set the ScanMode property to 'Mechanical' or 'Mechanical and electronic'.

Data Types: double

`ElectronicScanLimits` — Angular limits of electronic scan directions of radar
`[-45 45;-45 45]` (default) | real-valued 1-by-2 row vector | real-valued 2-by-2 matrix

Angular limits of electronic scan directions of radar, specified as a real-valued 1-by-2 row vector or a real-valued 2-by-2 matrix. The electronic scan limits define the minimum and maximum electronic angles the radar can scan from its current mechanical direction.

Azimuthal scan limits and elevation scan limits must lie within the closed interval [-90° 90°]. Units are in degrees.

Example: [-90 90;0 85]

Dependencies

To enable this property, set the ScanMode property to 'Electronic' or 'Mechanical and electronic'.

Data Types: double

`ElectronicAngle` — Current electronic scan angle
electronic scalar | nonnegative scalar

This property is read-only.

Current electronic scan angle of radar, returned as a scalar or 1-by-2 column vector. When HasElevation is true, the scan angle takes the form [Az;El]. Az and El represent the azimuth and elevation scan angles, respectively. When HasElevation is false, the scan angle is a scalar representing the azimuth scan angle.

Dependencies

To enable this property, set the ScanMode property to 'Electronic' or'Mechanical and electronic'.

Data Types: double

`LookAngle` — Look angle of sensor
scalar | real-valued 2-by-1 vector

This property is read-only.

Look angle of sensor, specified as a scalar or real-valued 2-by-1 vector. Look angle is a combination of the mechanical angle and electronic angle depending on the ScanMode property.

ScanMode	LookAngle
`'Mechanical'`	`MechnicalAngle`
`'Electronic'`	`ElectronicAngle`
`'Mechanical and Electronic'`	`MechnicalAngle` + `ElectronicAngle`
`'No scanning'`	`0`

When HasElevation is true, the look angle takes the form [Az;El]. Az and El represent the azimuth and elevation look angles, respectively. When HasElevation is false, the look angle is a scalar representing the azimuth look angle.

`DetectionProbability` — Probability of detecting a target
`0.9` | positive scalar less than or equal to 1

Probability of detecting a target, specified as a positive scalar less than or equal to one. This quantity defines the probability of detecting a target with a radar cross-section, ReferenceRCS, at the reference detection range, ReferenceRange.

Example: 0.95

Data Types: double

`FalseAlarmRate` — False alarm rate
`1e-6` (default) | positive scalar

False alarm report rate within each radar resolution cell, specified as a positive scalar in the range [10^–7,10^–3]. Units are dimensionless. Resolution cells are determined from the AzimuthResolution and RangeResolution properties, and the ElevationResolution and RangeRateResolution properties when they are enabled.

Example: 1e-5

Data Types: double

`ReferenceRange` — Reference range for given probability of detection
`100e3` (default) | positive scalar

Reference range for the given probability of detection and the given reference radar cross-section (RCS), specified as a positive scalar. The reference range is the range at which a target having a radar cross-section specified by ReferenceRCS is detected with a probability of detection specified by DetectionProbability. Units are in meters.

Example: 25e3

Data Types: double

`ReferenceRCS` — Reference radar cross-section for given probability of detection
`0` (default) | scalar

Reference radar cross-section (RCS) for given a probability of detection and reference range, specified as a scalar. The reference RCS is the RCS value at which a target is detected with probability specified by DetectionProbability at ReferenceRange. Units are in dBsm.

Example: -10

Data Types: double

`RadarLoopGain` — Radar loop gain
scalar

This property is read-only.

Radar loop gain, returned as a scalar. RadarLoopGain depends on the values of the DetectionProbability, ReferenceRange, ReferenceRCS, and FalseAlarmRate properties. Radar loop gain is a function of the reported signal-to-noise ratio of the radar, SNR, the target radar cross-section, RCS, and the target range, R. The function is

SNR = RadarLoopGain + RCS - 40log10(R)

(1)

where SNR and RCS are in dB and dBsm, respectively, and range is in meters. Radar loop gain is in dB.

Data Types: double

`HasElevation` — Enable radar elevation scan and measurements
`false` (default) | `true`

Enable the radar to measure target elevation angles and to scan in elevation, specified as false or true. Set this property to true to model a radar sensor that can estimate target elevation and scan in elevation.

Data Types: logical

`HasRangeRate` — Enable radar to measure range rate
`false` (default) | `true`

Enable the radar to measure target range rates, specified as false or true. Set this property to true to model a radar sensor that can measure target range rate. Set this property to false to model a radar sensor that cannot measure range rate.

Data Types: logical

`AzimuthResolution` — Azimuth resolution of radar
`1` (default) | positive scalar

Azimuth resolution of the radar, specified as a positive scalar. The azimuth resolution defines the minimum separation in azimuth angle at which the radar can distinguish two targets. The azimuth resolution is typically the 3dB downpoint of the azimuth angle beamwidth of the radar. Units are in degrees.

Data Types: double

`ElevationResolution` — Elevation resolution of radar
`1` (default) | positive scalar

Elevation resolution of the radar, specified as a positive scalar. The elevation resolution defines the minimum separation in elevation angle at which the radar can distinguish two targets. The elevation resolution is typically the 3dB-downpoint in elevation angle beamwidth of the radar. Units are in degrees.

Dependencies

To enable this property, set the HasElevation property to true.

Data Types: double

`RangeResolution` — Range resolution of radar
`100` (default) | positive scalar

Range resolution of the radar, specified as a positive scalar. The range resolution defines the minimum separation in range at which the radar can distinguish between two targets. Units are in meters.

Data Types: double

`RangeRateResolution` — Range rate resolution of radar
`10` (default) | positive scalar

Range rate resolution of the radar, specified as a positive scalar. The range rate resolution defines the minimum separation in range rate at which the radar can distinguish between two targets. Units are in meters per second.

Dependencies

To enable this property, set the HasRangeRate property to true.

Data Types: double

`AzimuthBiasFraction` — Azimuth bias fraction
`0.1` (default) | nonnegative scalar

Azimuth bias fraction of the radar, specified as a nonnegative scalar. The azimuth bias is expressed as a fraction of the azimuth resolution specified in AzimuthResolution. This value sets a lower bound on the azimuthal accuracy of the radar. This value is dimensionless.

Data Types: double

`ElevationBiasFraction` — Elevation bias fraction
`0.1` (default) | nonnegative scalar

Elevation bias fraction of the radar, specified as a nonnegative scalar. Elevation bias is expressed as a fraction of the elevation resolution specified by the value of the ElevationResolution property. This value sets a lower bound on the elevation accuracy of the radar. This value is dimensionless.

Dependencies

To enable this property, set the HasElevation property to true.

Data Types: double

`RangeBiasFraction` — Range bias fraction
`0.05` (default) | nonnegative scalar

Range bias fraction of the radar, specified as a nonnegative scalar. Range bias is expressed as a fraction of the range resolution specified in RangeResolution. This property sets a lower bound on the range accuracy of the radar. This value is dimensionless.

Data Types: double

`RangeRateBiasFraction` — Range rate bias fraction
`0.05` (default) | nonnegative scalar

Range rate bias fraction of the radar, specified as a nonnegative scalar. Range rate bias is expressed as a fraction of the range rate resolution specified in RangeRateResolution. This property sets a lower bound on the range-rate accuracy of the radar. This value is dimensionless.

Dependencies

To enable this property, set the HasRangeRate property to true.

Data Types: double

`HasINS` — Enable inertial navigation system (INS) input
`false` (default) | `true`

Enable the optional input argument that passes the current estimate of the sensor platform pose to the sensor, specified as false or true. When true, pose information is added to the MeasurementParameters structure of the reported detections. Pose information lets tracking and fusion algorithms estimate the state of the target detections in the north-east-down (NED) frame.

Data Types: logical

`HasNoise` — Enable addition of noise to radar sensor measurements
`true` (default) | `false`

Enable addition of noise to radar sensor measurements, specified as true or false. Set this property to true to add noise to the radar measurements. Otherwise, the measurements have no noise. Even if you set HasNoise to false, the object still computes the MeasurementNoise property of each detection.

Data Types: logical

`HasFalseAlarms` — Enable creating false alarm radar detections
`true` (default) | `false`

Enable creating false alarm radar measurements, specified as true or false. Set this property to true to report false alarms. Otherwise, only actual detections are reported.

Data Types: logical

`HasOcclusion` — Enable occlusion from extended objects
`true` (default) | `false`

Enable occlusion from extended objects, specified as true or false. Set this property to true to model occlusion from extended objects. Two types of occlusion (self occlusion and inter object occlusion) are modeled. Self occlusion occurs when one side of an extended object occludes another side. Inter object occlusion occurs when one extended object stands in the line of sight of another extended object or a point target. Note that both extended objects and point targets can be occluded by extended objects, but a point target cannot occlude another point target or an extended object.

Set this property to false to disable occlusion of extended objects. This will also disable the merging of objects whose detections share a common sensor resolution cell, which gives each object in the tracking scenario an opportunity to generate a detection.

Data Types: logical

`MaxNumDetectionsSource` — Source of maximum number of detections reported
`'Auto'` (default) | `'Property'`

Source of maximum number of detections reported by the sensor, specified as 'Auto' or 'Property'. When this property is set to 'Auto', the sensor reports all detections. When this property is set to 'Property', the sensor reports up to the number of detections specified by the MaxNumDetections property.

Data Types: char

`MaxNumDetections` — Maximum number of reported detections
`50` (default) | positive integer

Maximum number of detections reported by the sensor, specified as a positive integer. Detections are reported in order of distance to the sensor until the maximum number is reached.

Dependencies

To enable this property, set the MaxNumDetectionsSource property to 'Property'.

Data Types: double

`DetectionCoordinates` — Coordinate system of reported detections
`'Body'` (default) | `'Scenario'` | `'Sensor rectangular` | `'Sensor spherical'`

Coordinate system of reported detections, specified as:

'Scenario' — Detections are reported in the rectangular scenario coordinate frame. The scenario coordinate system is defined as the local NED frame at simulation start time. To enable this value, set the HasINS property to true.
'Body' — Detections are reported in the rectangular body system of the sensor platform.
'Sensor rectangular' — Detections are reported in the radar sensor rectangular body coordinate system.
'Sensor spherical' — Detections are reported in a spherical coordinate system derived from the sensor rectangular body coordinate system. This coordinate system is centered at the radar sensor and aligned with the orientation of the radar on the platform.

Example: 'Sensor spherical'

Data Types: char

`HasInterference` — Enable RF interference input
`false` (default) | `true`

Enable RF interference input, specified as false or true. When true, you can add RF interference using an input argument of the object.

Data Types: logical

`Bandwidth` — Radar waveform bandwidth
positive scalar

Radar waveform bandwidth, specified as a positive scalar. Units are in hertz.

Example: 100e3

Data Types: double

`CenterFrequency` — Center frequency of radar band
positive scalar

Center frequency of radar band, specified as a positive scalar. Units are in hertz.

Example: 100e6

Data Types: double

`Sensitivity` — Minimum operational sensitivity of receiver
`-50` (default) | scalar

Minimum operational sensitivity of receiver, specified as a scalar. Sensitivity includes isotropic antenna receiver gain. Units are in dBmi.

Example: -10

Data Types: double

Usage

Syntax

dets = sensor(targets,simTime)

dets
= sensor(targets,ins,simTime)

dets
= sensor(targets,interference,simTime)

[dets,numDets,config]
= sensor(___)

Description

dets = sensor(targets,simTime) creates radar detections, dets, from sensor measurements taken of targets at the current simulation time, simTime. The sensor can generate detections for multiple targets simultaneously.

dets = sensor(targets,ins,simTime) also specifies the INS-estimated pose information, ins, for the sensor platform. INS information is used by tracking and fusion algorithms to estimate the target positions in the NED frame.

To enable this syntax, set the HasINS property to true.

dets = sensor(targets,interference,simTime) also specifies an interference signal, interference.

To enable this syntax, set the HasInterference property to true.

[dets,numDets,config] = sensor(___) also returns the number of valid detections reported, numDets, and the configuration of the sensor, config, at the current simulation time. You can use these output arguments with any of the previous input syntaxes.

Input Arguments

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`targets` — Tracking scenario target poses
structure | structure array

Tracking scenario target poses, specified as a structure or array of structures. Each structure corresponds to a target. You can generate this structure using the targetPoses method of a platform. You can also create such a structure manually. The table shows the required fields of the structure:

Field	Description
`PlatformID`	Unique identifier for the platform, specified as a scalar 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 platform coordinates, specified as a real-valued, 1-by-3 vector. This is a required field with no default value. Units are in meters.
`Velocity`	Velocity of target in platform coordinates, specified as a real-valued, 1-by-3 vector. Units are in meters per second. The default is `[0 0 0]`.
`Acceleration`	Acceleration of target in platform coordinates specified as a 1-by-3 row vector. Units are in meters per second-squared. The default is `[0 0 0]`.
`Orientation`	Orientation of the target with respect to platform coordinates, specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation defines the frame rotation from the platform coordinate system to the current target body coordinate system. Units are dimensionless. The default is `quaternion(1,0,0,0)`.
`AngularVelocity`	Angular velocity of target in platform 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 in degrees per second. The default is `[0 0 0]`.

The values of the Position, Velocity, and Orientation fields are defined with respect to the platform coordinate system.

`simTime` — Current simulation time
nonnegative scalar

Current simulation time, specified as a positive scalar. The trackingScenario object calls the scan radar sensor at regular time intervals. The radar sensor generates new detections at intervals defined by the UpdateInterval property. The value of the UpdateInterval property must be an integer multiple of the simulation time interval. Updates requested from the sensor between update intervals contain no detections. Units are in seconds.

Data Types: double

`ins` — Platform pose from INS
structure

Platform pose information from an inertial navigation system (INS) is a structure which has these fields:

Field	Definition
`Position`	Position of the GPS receiver in the local NED coordinate system, specified as a real-valued 1-by-3 vector. Units are in meters.
`Velocity`	Velocity of the GPS receiver in the local NED coordinate system, specified as a real-valued 1-by-3 vector. Units are in meters per second.
`Orientation`	Orientation of the INS with respect to the local NED coordinate system, specified as a scalar quaternion or a 3-by-3 real-valued orthonormal frame rotation matrix. Defines the frame rotation from the local NED coordinate system to the current INS body coordinate system. This is also referred to as a "parent to child" rotation.

Dependencies

To enable this argument, set the HasINS property to true.

Data Types: struct

`interference` — Interfering or jamming signal
array of `radarEmission` objects

Interfering or jamming signal, specified as an array of radarEmission objects.

Dependencies

To enable this argument, set the HasInterference property to true.

Data Types: double
Complex Number Support: Yes

Output Arguments

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`dets` — sensor detections
cell array of `objectDetection` objects

Sensor detections, returned as a cell array of objectDetection objects. For a high level view of object detections, see objectDetection objects. Each object has these properties but the contents of the properties depend on the specific sensor. For the monostaticRadarSensor, see Object Detections.

Property	Definition
`Time`	Measurement time
`Measurement`	Object measurements
`MeasurementNoise`	Measurement noise covariance matrix
`SensorIndex`	Unique ID of the sensor
`ObjectClassID`	Object classification
`ObjectAttributes`	Additional information passed to tracker
`MeasurementParameters`	Parameters used by initialization functions of nonlinear Kalman tracking filters

For the Measurement and MeasurementNoise are reported in the coordinate system specified by the DetectionCoordinates property.

`numDets` — Number of detections
nonnegative integer

Number of detections reported, returned as a nonnegative integer.

When the MaxNumDetectionsSource property is set to 'Auto', numDets is set to the length of dets.
When the MaxNumDetectionsSource property is set to 'Property', dets is a cell array with length determined by the MaxNumDetections property. The maximum number of detections returned is MaxNumDetections. If the number of detections is fewer than MaxNumDetections, the first numDets elements of dets hold valid detections. The remaining elements of dets are set to the default value.

Data Types: double

`config` — Current sensor configuration
structure

Current sensor configuration, specified as a structure. This output can be used to determine which objects fall within the radar beam during object execution.

Field	Description
`SensorIndex`	Unique sensor index, returned as a positive integer.
`IsValidTime`	Valid detection time, returned as `0` or `1`. `IsValidTime` is `0` when detection updates are requested between update intervals specified by `UpdateInterval`.
`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.
`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.

Data Types: struct

Object Functions

To use an object function, specify the System object as the first input argument. For example, to release system resources of a System object named obj, use this syntax:

release(obj)

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Specific to `monostaticRadarSensor`

coverageConfig Sensor and emitter coverage configuration

Common to All System Objects

`step`	Run System object algorithm
`release`	Release resources and allow changes to System object property values and input characteristics
`reset`	Reset internal states of System object

Examples

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Air-Traffic Control Tower Radar

Open Live Script

Simulate a radar scenario.

sc = trackingScenario('UpdateRate',1);

Create an airport control tower with a surveillance radar located 15 meters above the ground. The radar rotates at 12.5 rpm and its field of view in azimuth is 5 degrees and its field of view in elevation is 10 degrees.

rpm = 12.5;
fov = [5;10]; % [azimuth; elevation]
scanrate = rpm*360/60;
updaterate = scanrate/fov(1) % Hz

radar = monostaticRadarSensor(1,'Rotator', ...
    'UpdateRate',updaterate, ...
    'MountingLocation',[0 0 -15], ...
    'MaxMechanicalScanRate',scanrate, ...
    'FieldOfView',fov, ...
    'AzimuthResolution',fov(1));
towermotion = kinematicTrajectory('SampleRate',1,'Position',[0 0 0],'Velocity',[0 0 0]);
tower = platform(sc,'ClassID',1,'Trajectory',towermotion);
aircraft1motion = kinematicTrajectory('SampleRate',1,'Position',[10000 0 1000],'Velocity',[-100 0 0]);
aircraft1 = platform(sc,'ClassID',2,'Trajectory',aircraft1motion);
aircraft2motion = kinematicTrajectory('SampleRate',1,'Position',[5000 5000 200],'Velocity',[100 100 0]);
aircraft2 = platform(sc,'ClassID',2,'Trajectory',aircraft2motion);

Perform 5 scans.

detBuffer = {};
scanCount = 0;
while advance(sc)    
    simTime = sc.SimulationTime;
    targets = targetPoses(tower);
    [dets,numDets,config] = radar(targets,simTime);
    detBuffer = [detBuffer;dets];
    if config.IsScanDone
            scanCount = scanCount + 1;
            if scanCount == 5;
                break;
            end
    end
end

Plot detections

tp = theaterPlot;
clrs = lines(3);
rp = platformPlotter(tp,'DisplayName','Radar','Marker','s',...
    'MarkerFaceColor',clrs(1,:));
pp = platformPlotter(tp,'DisplayName','Truth',...
    'MarkerFaceColor',clrs(2,:));
dp = detectionPlotter(tp,'DisplayName','Detections',...
    'MarkerFaceColor',clrs(3,:));
plotPlatform(rp,[0 0 0])
plotPlatform(pp,[targets(1).Position; targets(2).Position])
if ~isempty(detBuffer)
    detPos = cellfun(@(d)d.Measurement(1:3),detBuffer,...
        'UniformOutput',false);
    detPos = cell2mat(detPos')';
    plotDetection(dp,detPos)
end

More About

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Object Detections

Measurements

The sensor measures the coordinates of the target. The Measurement and MeasurementNoise values are reported in the coordinate system specified by the DetectionCoordinates property of the sensor.

When the DetectionCoordinates property is 'Scenario', 'Body', or 'Sensor rectangular', the Measurement and MeasurementNoise values are reported in rectangular coordinates. Velocities are only reported when the range rate property, HasRangeRate, is true.

When the DetectionCoordinates property is 'Sensor spherical', the Measurement and MeasurementNoise values are reported in a spherical coordinate system derived from the sensor rectangular coordinate system. Elevation and range rate are only reported when HasElevation and HasRangeRate are true.

Measurements are ordered as [azimuth, elevation, range, range rate]. Reporting of elevation and range rate depends on the corresponding HasElevation and HasRangeRate property values. Angles are in degrees, range is in meters, and range rate is in meters per second.

Measurement Coordinates

DetectionCoordinates Measurement and Measurement Noise Coordinates

'Scenario'

Coordinate Dependence on HasRangeRate

`HasRangeRate`	`Coordinates`
`true`	[x; y; z; vx; vy; vz]
`false`	[x; y; z]

'Body'

'Sensor rectangular'

'Sensor spherical'

Coordinate Dependence on HasRangeRate and HasElevation

`HasRangeRate`	`HasElevation`	`Coordinates`
`true`	`true`	[az; el; rng; rr]
`true`	`false`	[az; rng; rr]
`false`	`true`	[az; el; rng]
`false`	`false`	[az; rng]

Measurement Parameters

The MeasurementParameters property consists of an array of structures that describe a sequence of coordinate transformations from a child frame to a parent frame or the inverse transformations (see Frame Rotation). In most cases, the longest required sequence of transformations is Sensor → Platform → Scenario.

If the detections are reported in sensor spherical coordinates and HasINS is set to false, then the sequence consists only of one transformation from sensor to platform. In the transformation, the OriginPosition is same as the MountingLocation property of the sensor. The Orientation consists of two consecutive rotations. The first rotation, corresponding to the MountingAngles property of the sensor, accounts for the rotation from the platform frame (P) to the sensor mounting frame (M). The second rotation, corresponding to the azimuth and elevation angles of the sensor, accounts for the rotation from the sensor mounting frame (M) to the sensor scanning frame (S). In the S frame, the x direction is the boresight direction, and the y direction lies within the x-y plane of the sensor mounting frame (M).

If HasINS is true, the sequence of transformations consists of two transformations – first form the scenario frame to the platform frame then from platform frame to the sensor scanning frame. In the first transformation, the Orientation is the rotation from the scenario frame to the platform frame, and the OriginPosition is the position of the platform frame origin relative to the scenario frame.

Trivially, if the detections are reported in platform rectangular coordinates and HasINS is set to false, the transformation consists only of the identity.

The fields of MeasurementParameters are shown here. Not all fields have to be present in the structure. The set of fields and their default values can depend on the type of sensor.

Field	Description
`Frame`	Enumerated type indicating the frame used to report measurements. When detections are reported using a rectangular coordinate system, `Frame` is set to `'rectangular'`. When detections are reported in spherical coordinates, `Frame` is set `'spherical'` for the first `struct`.
`OriginPosition`	Position offset of the origin of the child frame relative to the parent frame, represented as a 3-by-1 vector.
`OriginVelocity`	Velocity offset of the origin of the child frame relative to the parent frame, represented as a 3-by-1 vector.
`Orientation`	3-by-3 real-valued orthonormal frame rotation matrix. The direction of the rotation depends on the `IsParentTochild` field.
`IsParentToChild`	A logical scalar indicating if `Orientation` performs a frame rotation from the parent coordinate frame to the child coordinate frame. If `false`, `Orientation` performs a frame rotation from the child coordinate frame to the parent coordinate frame.
`HasElevation`	A logical scalar indicating if elevation is included in the measurement. For measurements reported in a rectangular frame, and if `HasElevation` is `false`, the measurements are reported assuming 0 degrees of elevation.
`HasAzimuth`	A logical scalar indicating if azimuth is included in the measurement.
`HasRange`	A logical scalar indicating if range is included in the measurement.
`HasVelocity`	A logical scalar indicating if the reported detections include velocity measurements. For measurements reported in the rectangular frame, if `HasVelocity` is `false`, the measurements are reported as `[x y z]`. If `HasVelocity` is `true`, measurements are reported as `[x y z vx vy vz]`.

Object Attributes

Object attributes contain additional information about a detection:

Attribute	Description
`TargetIndex`	Identifier of the platform, `PlatformID`, that generated the detection. For false alarms, this value is negative.
`SNR`	Detection signal-to-noise ratio in dB.

Convenience Syntaxes

The convenience syntaxes set several properties together to model a specific type of radar.

No Scanning

Sets ScanMode to 'No scanning'.

Raster Scanning

This syntax sets these properties:

Property	Value
`ScanMode`	`'Mechanical'`
`HasElevation`	`true`
`MaxMechanicalScanRate`	`[75;75]`
`MechanicalScanLimits`	`[-45 45;-10 0]`
`ElectronicScanLimits`	`[-45 45;-10 0]`

You can change the ScanMode property to 'Electronic' to perform an electronic raster scan over the same volume as a mechanical scan.

Rotator Scanning

This syntax sets these properties:

Property	Value
`ScanMode`	`'Mechanical'`
`FieldOfView`	[`1:10]`
`HasElevation`	`false` or `true`
`MechanicalScanLimits`	`[0 360;-10 0]`
`ElevationResolution`	`10/sqrt(12)`

Sector Scanning

This syntax sets these properties:

Property	Value
`ScanMode`	`'Mechanical'`
`FieldOfView`	`[1;10]`
`HasElevation`	`false`
`MechanicalScanLimits`	`[-45 45;-10 0]`
`ElectronicScanLimits`	`[-45 45;-10 0]`
`ElevationResolution`	`10/sqrt(12)`

Changing the ScanMode property to 'Electronic' lets you perform an electronic raster scan over the same volume as a mechanical scan.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Usage notes and limitations:

See System Objects in MATLAB Code Generation (MATLAB Coder).

Documentation

monostaticRadarSensor

Description

Creation

Syntax

Description

Properties

SensorIndex — Unique sensor identifier positive integer

UpdateRate — Sensor update rate 1 (default) | positive scalar

MountingLocation — Sensor location on platform [0 0 0] (default) | 1-by-3 real-valued vector

MountingAngles — Orientation of sensor [0 0 0] (default) | 3-element real-valued vector

FieldOfView — Fields of view of sensor [10;50] | 2-by-1 vector of positive scalar

HasRangeAmbiguities — Enable range ambiguities false (default) | true

MaxUnambiguousRange — Maximum unambiguous detection range 100e3 (default) | positive scalar

Dependencies

HasRangeRateAmbiguities — Enable range-rate ambiguities false (default) | true

Dependencies

MaxUnambiguousRadialSpeed — Maximum unambiguous radial speed 200 (default) | positive scalar

Dependencies

ScanMode — Scanning mode of radar 'Mechanical' (default) | 'Electronic' | 'Mechanical and electronic' | 'No scanning'

MaxMechanicalScanRate — Maximum mechanical scan rate [75;75] (default) | nonnegative scalar | real-valued 2-by-1 vector with nonnegative entries

Dependencies

MechanicalScanLimits — Angular limits of mechanical scan directions of radar [0 360;-10 0] (default) | real-valued 1-by-2 row vector | real-valued 2-by-2 matrix

Dependencies

MechanicalAngle — Current mechanical scan angle scalar | real-valued 2-by-1 vector

Dependencies

ElectronicScanLimits — Angular limits of electronic scan directions of radar [-45 45;-45 45] (default) | real-valued 1-by-2 row vector | real-valued 2-by-2 matrix

Dependencies

ElectronicAngle — Current electronic scan angle electronic scalar | nonnegative scalar

Dependencies

LookAngle — Look angle of sensor scalar | real-valued 2-by-1 vector

DetectionProbability — Probability of detecting a target 0.9 | positive scalar less than or equal to 1

FalseAlarmRate — False alarm rate 1e-6 (default) | positive scalar

ReferenceRange — Reference range for given probability of detection 100e3 (default) | positive scalar

ReferenceRCS — Reference radar cross-section for given probability of detection 0 (default) | scalar

RadarLoopGain — Radar loop gain scalar

HasElevation — Enable radar elevation scan and measurements false (default) | true

HasRangeRate — Enable radar to measure range rate false (default) | true

AzimuthResolution — Azimuth resolution of radar 1 (default) | positive scalar

ElevationResolution — Elevation resolution of radar 1 (default) | positive scalar

Dependencies

RangeResolution — Range resolution of radar 100 (default) | positive scalar

RangeRateResolution — Range rate resolution of radar 10 (default) | positive scalar

Dependencies

AzimuthBiasFraction — Azimuth bias fraction 0.1 (default) | nonnegative scalar

ElevationBiasFraction — Elevation bias fraction 0.1 (default) | nonnegative scalar

Dependencies

RangeBiasFraction — Range bias fraction 0.05 (default) | nonnegative scalar

RangeRateBiasFraction — Range rate bias fraction 0.05 (default) | nonnegative scalar

Dependencies

HasINS — Enable inertial navigation system (INS) input false (default) | true

HasNoise — Enable addition of noise to radar sensor measurements true (default) | false

HasFalseAlarms — Enable creating false alarm radar detections true (default) | false

HasOcclusion — Enable occlusion from extended objects true (default) | false

MaxNumDetectionsSource — Source of maximum number of detections reported 'Auto' (default) | 'Property'

MaxNumDetections — Maximum number of reported detections 50 (default) | positive integer

Dependencies

DetectionCoordinates — Coordinate system of reported detections 'Body' (default) | 'Scenario' | 'Sensor rectangular | 'Sensor spherical'

HasInterference — Enable RF interference input false (default) | true

Bandwidth — Radar waveform bandwidth positive scalar

CenterFrequency — Center frequency of radar band positive scalar

Sensitivity — Minimum operational sensitivity of receiver -50 (default) | scalar

Usage

Syntax

Description

Input Arguments

targets — Tracking scenario target poses structure | structure array

simTime — Current simulation time nonnegative scalar

ins — Platform pose from INS structure

Dependencies

interference — Interfering or jamming signal array of radarEmission objects

Dependencies

Output Arguments

dets — sensor detections cell array of objectDetection objects

numDets — Number of detections nonnegative integer

config — Current sensor configuration structure

Object Functions

Specific to monostaticRadarSensor

Common to All System Objects

Examples

`SensorIndex` — Unique sensor identifier
positive integer

`UpdateRate` — Sensor update rate
`1` (default) | positive scalar

`MountingLocation` — Sensor location on platform
`[0 0 0]` (default) | 1-by-3 real-valued vector

`MountingAngles` — Orientation of sensor
`[0 0 0]` (default) | 3-element real-valued vector

`FieldOfView` — Fields of view of sensor
`[10;50]` | 2-by-1 vector of positive scalar

`HasRangeAmbiguities` — Enable range ambiguities
`false` (default) | `true`

`MaxUnambiguousRange` — Maximum unambiguous detection range
`100e3` (default) | positive scalar

`HasRangeRateAmbiguities` — Enable range-rate ambiguities
`false` (default) | `true`

`MaxUnambiguousRadialSpeed` — Maximum unambiguous radial speed
`200` (default) | positive scalar

`ScanMode` — Scanning mode of radar
`'Mechanical'` (default) | `'Electronic'` | `'Mechanical and electronic'` | `'No scanning'`

`MaxMechanicalScanRate` — Maximum mechanical scan rate
`[75;75]` (default) | nonnegative scalar | real-valued 2-by-1 vector with nonnegative entries

`MechanicalScanLimits` — Angular limits of mechanical scan directions of radar
`[0 360;-10 0]` (default) | real-valued 1-by-2 row vector | real-valued 2-by-2 matrix

`MechanicalAngle` — Current mechanical scan angle
scalar | real-valued 2-by-1 vector

`ElectronicScanLimits` — Angular limits of electronic scan directions of radar
`[-45 45;-45 45]` (default) | real-valued 1-by-2 row vector | real-valued 2-by-2 matrix

`ElectronicAngle` — Current electronic scan angle
electronic scalar | nonnegative scalar

`LookAngle` — Look angle of sensor
scalar | real-valued 2-by-1 vector

`DetectionProbability` — Probability of detecting a target
`0.9` | positive scalar less than or equal to 1

`FalseAlarmRate` — False alarm rate
`1e-6` (default) | positive scalar

`ReferenceRange` — Reference range for given probability of detection
`100e3` (default) | positive scalar

`ReferenceRCS` — Reference radar cross-section for given probability of detection
`0` (default) | scalar

`RadarLoopGain` — Radar loop gain
scalar

`HasElevation` — Enable radar elevation scan and measurements
`false` (default) | `true`

`HasRangeRate` — Enable radar to measure range rate
`false` (default) | `true`

`AzimuthResolution` — Azimuth resolution of radar
`1` (default) | positive scalar

`ElevationResolution` — Elevation resolution of radar
`1` (default) | positive scalar

`RangeResolution` — Range resolution of radar
`100` (default) | positive scalar

`RangeRateResolution` — Range rate resolution of radar
`10` (default) | positive scalar

`AzimuthBiasFraction` — Azimuth bias fraction
`0.1` (default) | nonnegative scalar

`ElevationBiasFraction` — Elevation bias fraction
`0.1` (default) | nonnegative scalar

`RangeBiasFraction` — Range bias fraction
`0.05` (default) | nonnegative scalar

`RangeRateBiasFraction` — Range rate bias fraction
`0.05` (default) | nonnegative scalar

`HasINS` — Enable inertial navigation system (INS) input
`false` (default) | `true`

`HasNoise` — Enable addition of noise to radar sensor measurements
`true` (default) | `false`

`HasFalseAlarms` — Enable creating false alarm radar detections
`true` (default) | `false`

`HasOcclusion` — Enable occlusion from extended objects
`true` (default) | `false`

`MaxNumDetectionsSource` — Source of maximum number of detections reported
`'Auto'` (default) | `'Property'`

`MaxNumDetections` — Maximum number of reported detections
`50` (default) | positive integer

`DetectionCoordinates` — Coordinate system of reported detections
`'Body'` (default) | `'Scenario'` | `'Sensor rectangular` | `'Sensor spherical'`

`HasInterference` — Enable RF interference input
`false` (default) | `true`

`Bandwidth` — Radar waveform bandwidth
positive scalar

`CenterFrequency` — Center frequency of radar band
positive scalar

`Sensitivity` — Minimum operational sensitivity of receiver
`-50` (default) | scalar

`targets` — Tracking scenario target poses
structure | structure array

`simTime` — Current simulation time
nonnegative scalar

`ins` — Platform pose from INS
structure

`interference` — Interfering or jamming signal
array of `radarEmission` objects

`dets` — sensor detections
cell array of `objectDetection` objects

`numDets` — Number of detections
nonnegative integer

`config` — Current sensor configuration
structure

Specific to `monostaticRadarSensor`

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.