Platform.pose

Pose of platform

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Syntax

pse = pose(ptfm)
pse = pose(ptfm,type)
pse = pose(___,'CoordinateSystem',coordinate)

Description

pse = pose(ptfm) returns the estimated pose, pse, of the platform ptfm, in scenario coordinates. The platform must already exist in the tracking scenario. Add platforms to a scenario using the platform method. The pose is estimated by a pose estimator specified in the PoseEstimator property of the platform.

pse = pose(ptfm,type) specifies the type of the pose estimation as 'estimated' or 'true'.

example

pse = pose(___,'CoordinateSystem',coordinate) specifies the coordinate system of the pse output. You can only use this syntax when the IsEarthCentered property of the tracking scenario is set to true.

Examples

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Open Live Script

Create a tracking scenario with specified updated rate.

scene = trackingScenario('IsEarthCentered',true,'UpdateRate',0.01);

Add an airplane in the scenario. The trajectory of the airplane changes in latitude and altitude.

plane = platform(scene,'Trajectory',geoTrajectory([-12.338,-71.349,10600;42.390,-71.349,0],[0 36000]));

Advance the tracking scenario and record the geodetic and Cartesian positions of the plane target.

positions = [];
while advance(scene)
    poseLLA = pose(plane,'CoordinateSystem','Geodetic');
    poseCart = pose(plane,'CoordinateSystem','Cartesian');
    positions = [positions;poseCart.Position];%#ok<AGROW> Allow the buffer to grow.
end

Visualize the trajectory in the ECEF frame.

figure()
km = 1000;
% Plot the trajectory.
plot3(positions(1,1)/km,positions(1,2)/km,positions(1,3)/km, 'b*');
hold on;
plot3(positions(end,1)/km,positions(end,2)/km,positions(end,3)/km, 'bo');
plot3(positions(:,1)/km,positions(:,2)/km,positions(:,3)/km,'b');

% Plot the Earth radial lines.
plot3([0 positions(1,1)]/km,[0 positions(1,2)]/km,[0 positions(1,3)]/km,'k:');
plot3([0 positions(end,1)]/km,[0 positions(end,2)]/km,[0 positions(end,3)]/km,'k:');
xlabel('x (km)'); ylabel('y (km)'); zlabel('z (km)');
legend('Start position','End position','Trajectory')

Input Arguments
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Scenario platform, specified as a Platform object. To create platforms, use
      the platform
      method.

  

                    
Source of platform pose information, specified as
                            'estimated' or 'true'. When set to
                            'estimated', the pose is estimated using the pose
                        estimator specified in the PoseEstimator property of
                        the tracking scenario. When 'true' is selected, the true
                        pose of the platform is returned.

                    
Example: 'true'

                
Data Types: char

                    
Coordinate system to report pose, specified as:


  • 'Cartesian' — Report poses using Cartesian
                                    coordinates in the Earth-Centered-Earth-Fixed coordinate
                                    frame.
  • 'Geodetic' — Report positions using
                                    geodetic coordinates (latitude, longitude, and altitude). Report
                                    orientation, velocity, and acceleration in the local reference
                                    frame  (North-East-Down by default) corresponding to the current
                                    waypoint.

.

                    
You can only use this argument when the
                            IsEarthCentered property of the tracking scenario
                        is set to true.

                
Output Arguments
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Pose of platform, returned as a structure. Pose consists of the position,
                        velocity, orientation, and angular velocity of the platform with respect to
                        scenario coordinates. The returned structure has these fields:


FieldDescription
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', the
                                        Position is the 3-element Cartesian
                                    position coordinates in meters.
  • If the coordinateSystem argument is
                                    specified as 'Geodetic', the
                                        Position is the 3-element 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].



                
See Also
 |  | 
Introduced in R2018b

    




























Sensor Fusion and Tracking Toolbox Documentation





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