Tracking Closely Spaced Targets Under Ambiguity

"You can uncomment the lines below to regenerate the scenario and the synthetic detections."

load ATCdata.mat
% scenario = helperCreateScenario;
% dataLog = helperRunDetections(scenario);
plotScenarioAndDetections(dataLog);

It was mentioned in Mathworks documentation. But it is not working.

In MEX file uncommened line gives error:

Error using matlabshared.tracking.internal.fusion.EmissionsRadarDataGenerator

The name 'MaxMechanicalScanRate' is not an accessible property for an instance of class

'fusionRadarSensor'.

Error in fusionRadarSensor (line 469)

[e-mail]tor(varargin{:});

Error in helperCreateScenario (line 36)

radar = fusionRadarSensor(1,'Rotator', ...

Error in TrackingCloselySpacedTargetsUnderAmbiguityExample (line 53)

scenario = helperCreateScenario;

So, the reasonable question is how Mathworks team gets these data correctly?

Answer 1

[Trevor Roose]

Some of the properties on fusionRadarSensor have been renamed to seperate the azimuth and elevation components. The following edits need to be made to the helper function helperCreateScenario and then you should be able to regenerate the detection data log for this example:

radar = fusionRadarSensor(1,'Rotator', ...

'UpdateRate', updaterate, ... % Hz

'FieldOfView', fov, ... % [az;el] deg

'MaxAzimuthScanRate', scanrate, ... % deg/sec (Updated from: MaxMechanicalScanRate)

'AzimuthResolution', fov(1), ... % deg

'ReferenceRange', 111e3, ... % m

'ReferenceRCS', 0, ... % dBsm

'RangeResolution', 135, ... % m

'HasINS', true, ...

'MechanicalAzimuthLimits', [250 290], ... % (Updated from: MechanicalScanLimits)

'DetectionCoordinates', 'Scenario',...

'DetectionProbability', pd, ...

'FalseAlarmRate', far);

% Mount radar 15 meters high on a platform

radar.MountingLocation = [0 0 -15];

platform(scenario, 'Sensors', radar);

%%

% Tilt the radar so that it surveys a region beginning at 2 degrees above

% the horizon. To do this, enable elevation and set the mechanical scan

% limits to span the radar's elevation field of view beginning at 2 degrees

% above the horizon. Because |trackingScenario| uses a North-East-Down

% (NED) coordinate frame, negative elevations correspond to points above

% the horizon.

% Enable elevation scanning

radar.HasElevation = true;

% Set mechanical elevation scan to begin at 2 degrees above the horizon

elFov = fov(2);

tilt = 2; % deg

radar.MechanicalElevationLimits = [-fov(2) 0]-tilt; % deg (Updated from: MechanicalScanLimits(2,:))