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