Fusion Radar Sensor
Libraries:
Sensor Fusion and Tracking Toolbox /
Tracking Scenario and Sensor Models
Description
The Fusion Radar Sensor block reads target platform poses and generates detection and track reports from targets based on a radar sensor model. Currently, the Fusion Radar Sensor block supports only nonscanning mode. The Fusion Radar Sensor block can generate clustered or unclustered detections with added random noise and can also generate false alarm detections. You can also generate tracks from the Fusion Radar Sensor block. Use the Target reporting format parameter to specify sensor outputs as clustered detections, unclustered detections, or tracks.
Ports
Input
Platforms — Target platform poses
Simulink^{®} bus containing MATLAB^{®} structure
Target platform poses expressed in the reference platform coordinates, specified as a Simulink bus containing a MATLAB structure. The reference platform is the mounting platform of the radar sensor. For more details about buses, see Create Nonvirtual Buses (Simulink). The structure has these fields.
Field  Description 

NumPlatforms  Number of platforms, specified as a nonnegative integer. 
Platforms  Platforms poses, specified as an array of platform pose structures. The
block reads only as many platform poses as the number of platforms specified
in NumPlatforms . 
The fields of each platform pose structure are:
Field  Description 

PlatformID  Unique identifier for the target platform, specified as a positive integer. 
ClassID  Userdefined integer used to classify the type of target
platform, specified as a nonnegative integer. 
Position  Position of target platform in the reference platform body frame, specified as a realvalued 1by3 vector. Units are in meters. 
Velocity  Velocity of the target platform in the reference platform body frame, specified as a realvalued 1by3 vector. Units are in meters per second. 
Acceleration  Acceleration of the target platform in the reference platform body frame, specified as a realvalued 1by3 vector. Units are in meters per secondsquared. 
Orientation  Orientation of the target platform with respect to the reference platform body frame, specified as a 3by3 rotation matrix. Orientation defines the frame rotation from the platform coordinate system to the target body coordinate system. 
AngularVelocity  Angular velocity of the target platform in the reference platform
body frame, specified as a realvalued 1by3 vector. The magnitude of the
vector defines the angular speed. Units are in degrees per second. The
default is 
You can use the Tracking Scenario Reader block to generate target platform poses expressed in the scenario frame. Then use the Scenario To Platform block to obtain target platform poses in the reference platform frame.
INS — Radar reference platform pose from INS
Simulink bus containing MATLAB structure
Radar reference platform pose information from an inertial navigation system (INS), specified as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink). The structure includes pose information for the radar platform provided by the INS. The INS structure has the these fields.
Field  Definition 
Position  Position of the platform in the scenario frame, specified as a realvalued 1by3 vector. Units are in meters. 
Velocity  Velocity of the platform in the scenario frame, specified as a realvalued 1by3 vector. Units are in m/s. 
Orientation  Orientation of the platform body frame with respect to the scenario frame, specified as a 3by3 realvalued rotation matrix. The rotation is from the scenario frame to the platform body frame. This is also referred to as a parenttochild rotation. 
Dependencies
To enable this port, select the Enable INS check box.
Time — Current simulation time
nonnegative scalar
Current simulation time, specified as a nonnegative scalar. Note that the sensor generates reports only at simulation times corresponding to integer multiples of the update interval, which is the reciprocal of the specified Update rate (Hz) parameter. Units are in seconds.
Dependencies
To enable this port, set the Source of target truth time
parameter to Input port
.
If you do not enable this port, then the block uses the current Simulink simulation time.
Data Types: double
Output
Clustered Detections — Clustered object detections
Simulink bus containing MATLAB structure
Clustered object detections, returned as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink).
With clustered detections, the block outputs a single detection per target, where each detection is the centroid of the unclustered detections for that target.
The structure contains these fields.
Field  Description  Type 

NumDetections  Number of detections  Nonnegative integer 
IsValidTime  False when updates are requested at times that are between block invocation intervals  Boolean 
Detections  Object detections  Array of object detection structures of length set by the
Maximum number of target reports parameter. Only
the first NumDetections of these are actual
detections. 
Each object detection structure contains these fields.
Fields  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 rectangular coordinates, the block reports
Measurement
andMeasurementNoise
in the rectangular coordinate system specified by the Coordinate system parameter.For spherical coordinates, the block reports
Measurement
andMeasurementNoise
in the spherical coordinate system specified by the Coordinate system parameter.
Measurement
and MeasurementNoise
Coordinate System  Measurement and
MeasurementNoise Coordinates  

Scenario  This table shows how coordinates are affected by the Enable range rate measurements parameter.
 
Body  
Sensor rectangular  
Sensor spherical  This table shows how coordinates are affected by the Enable elevation angle measurements and Enable range rate measurements parameters.

The ObjectAttributes
structure has these fields.
ObjectAttributes
Attribute  Definition 

TargetIndex  PlatformID of the target platform that corresponds to
the detection, returned as a positive integer. For false alarms, this value
is negative. 
SNR  Signaltonoise ratio of the detection. Units are in dB. 
The MeasurementParameters
field can contain at least one
measurement parameter structure, representing the transformation from the platform body frame to
the sensor looking angle frame. If you specify the INS information through the
INS input port and you also specify the Coordinate
system parameter as scenario
, the
MeasurementParameters
field also contains an additional measurement
parameter structure, representing the transformation from the scenario frame to the reference
platform body frame. Each measurement parameter structure has these fields.
Field  Description 
Frame  Enumerated type indicating the frame used to report measurements.
When detections are reported using a rectangular coordinate system,

OriginPosition  Position offset of the origin of the child frame relative to the parent frame, represented as a 3by1 vector. 
OriginVelocity  Velocity offset of the origin of the child frame relative to the parent frame, represented as a 3by1 vector. 
Orientation  3by3 realvalued orthonormal frame rotation matrix. The direction
of the rotation depends on the 
IsParentToChild  A logical scalar indicating if 
HasElevation  A logical scalar indicating if elevation is included in the
measurement. For measurements reported in a rectangular frame, if

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.

Dependencies
To enable this port, select the Target reporting format
parameter to Clustered detections
.
Tracks — Object tracks
Simulink bus containing MATLAB structure
Object tracks, returned as a Simulink bus containing a MATLAB structure. See Create Nonvirtual Buses (Simulink).
Each structure has these fields.
Field  Description 

NumTracks  Number of tracks 
IsValidTime  False when you request updates between block invocation intervals 
Tracks  Array of track structures of a length set by the Maximum
number of target reports parameter. Only the first
NumTracks of these are actual tracks. 
This table shows the fields of each track structure.
Field  Definition 

TrackID  Unique track identifier used to distinguish multiple tracks. 
BranchID  Unique track branch identifier used to distinguish multiple track branches. 
SourceIndex  Unique source index used to distinguish tracking sources in a multiple tracker environment. 
UpdateTime  Time at which the track is updated. Units are in seconds. 
Age  Number of times the track was updated. 
State  Value of state vector at the update time. 
StateCovariance  Uncertainty covariance matrix of the state estimate error. 
ObjectClassID  Integer value representing the object classification. The value
0 represents an unknown classification. Nonzero
classifications apply only to confirmed tracks. 
TrackLogic  Confirmation and deletion logic type. This value is always
'History' for radar sensors, to indicate historybased
logic. 
TrackLogicState  Current state of the track logic type, returned as a
1byK logical array. K is the number of latest logical track states
recorded. In the array, 
IsConfirmed  Confirmation status. This field is true if the track
is confirmed to be a real target. 
IsCoasted  Coasting status. This field is true if the track is
updated without a new detection. 
IsSelfReported  Indicate if the track is reported by the tracker. This field is
used in a track fusion environment. It is returned as

ObjectAttributes  Additional information about the track. 
For more details about these fields, see objectTrack
.
The block outputs only confirmed tracks, which are tracks that are assigned at least M detections during the first N updates after track initialization. To specify the values M and N, use the M and N for the MoutofN confirmation parameter.
Dependencies
To enable this port, set the Target reporting format
parameter to Tracks
.
Detections — Unclustered object detections
Simulink bus containing MATLAB structure
Unclustered object detections, returned as a Simulink bus containing a MATLAB structure. For more details about buses, see Create Nonvirtual Buses (Simulink).
With unclustered detections, the block outputs all detections, and a target can have multiple detections.
The structure contains these fields.
Field  Description  Type 

NumDetections  Number of detections  Nonnegative integer 
IsValidTime  False when updates are requested at times that are between block invocation intervals  Boolean 
Detections  Object detections  Array of object detection structures of length set by the
Maximum number of target reports parameter. Only
the first NumDetections of these are actual
detections. 
Each object detection structure contains these fields.
Fields  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 rectangular coordinates, the block reports
Measurement
andMeasurementNoise
in the rectangular coordinate system specified by the Coordinate system parameter.For spherical coordinates, the block reports
Measurement
andMeasurementNoise
in the spherical coordinate system specified by the Coordinate system parameter.
Measurement
and MeasurementNoise
Coordinate System  Measurement and
MeasurementNoise Coordinates  

Scenario  This table shows how coordinates are affected by the Enable range rate measurements parameter.
 
Body  
Sensor rectangular  
Sensor spherical  This table shows how coordinates are affected by the Enable elevation angle measurements and Enable range rate measurements parameters.

The ObjectAttributes
structure has these fields.
ObjectAttributes
Attribute  Definition 

TargetIndex  PlatformID of the target platform that corresponds to
the detection, returned as a positive integer. For false alarms, this value
is negative. 
SNR  Signaltonoise ratio of the detection. Units are in dB. 
The MeasurementParameters
field can contain at least one
measurement parameter structure, representing the transformation from the platform body frame to
the sensor looking angle frame. If you specify the INS information through the
INS input port and you also specify the Coordinate
system parameter as scenario
, the
MeasurementParameters
field also contains an additional measurement
parameter structure, representing the transformation from the scenario frame to the reference
platform body frame. Each measurement parameter structure has these fields.
Field  Description 
Frame  Enumerated type indicating the frame used to report measurements.
When detections are reported using a rectangular coordinate system,

OriginPosition  Position offset of the origin of the child frame relative to the parent frame, represented as a 3by1 vector. 
OriginVelocity  Velocity offset of the origin of the child frame relative to the parent frame, represented as a 3by1 vector. 
Orientation  3by3 realvalued orthonormal frame rotation matrix. The direction
of the rotation depends on the 
IsParentToChild  A logical scalar indicating if 
HasElevation  A logical scalar indicating if elevation is included in the
measurement. For measurements reported in a rectangular frame, if

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.

Dependencies
To enable this port, set the Target reporting format
parameter to Detections
.
Configuration — Current sensor configuration
Simulink bus containing MATLAB structure
Configuration, returned as a Simulink bus containing a MATLAB structure. You can use this port to determine objects falling within the radar beam during object execution. The structure has these fields:
Field  Description  Type 

NumConfigurations  Number of valid configurations  integer 
Configurations  Configuration structures  Array of NumConfigurations configuration structures

The configuration structure has these fields.
Field  Description 
SensorIndex  Unique sensor index, returned as a positive integer. 
IsValidTime  Valid detection time, returned as 
IsScanDone 

FieldOfView
 Field of view of the sensor, returned as a 2by1 vector of
positive real values, [ 
RangeLimits  Minimum and maximum range of the sensor, in meters, specified as
a 1by2 nonnegative realvalued vector of the form

RangeRateLimits  Minimum and maximum range rate of the sensor, in meters per
second, specified as a 1by2 realvalued vector of the form

MeasurementParameters  Sensor measurement parameters, returned as an array of structures
containing the coordinate frame transforms needed to transform positions
and velocities in the toplevel frame to the current sensor frame. For
details on 
Dependencies
To enable this port, select the Enable radar configuration output check box.
Parameters
Parameters
Sensor IdentificationUnique identifier of sensor — Unique sensor identifier
0
(default)  positive integer
Unique sensor identifier, specified as a positive integer. Use this parameter to
distinguish between detections or tracks that come from different sensors in a
multisensor system. Specify a unique value for each sensor. If you do not update
Unique identifier of sensor from the default value of
0
, then the radar returns an error at the start of
simulation.
Update rate (Hz) — Sensor update rate
10
(default)  positive real scalar
Sensor update rate, specified as a positive real scalar. The radar generates new
reports at intervals defined by the reciprocal of this value. For example, if the
update rate is 10
Hz, then the sensor generates detections every
0.1 seconds. A sensor update request between update intervals contains no detections
or tracks. Units are in Hz.
Translation [ X, Y, Z ] relative to platform origin (m) — Mounting location of radar on platform
[0,0,0]
(default)  1by3 realvalued vector of form [x,y,z]
Sensor location of the radar on the reference platform, specified as a 1by3
realvalued vector of the form [x,y,z]
. This parameter defines the
coordinates of the sensor along the xaxis,
yaxis, and zaxis relative to the platform
origin. Units are in meters.
Rotation [Yaw,Pitch,Roll] relative to platform's frame (deg) — Mounting angles of radar
[0 0 0]
(default)  1by3 realvalued vector of form [z_{yaw}
y_{pitch}
x_{roll}]
Mounting angles of the radar, specified as a 1by3 realvalued vector of form [z_{yaw} y_{pitch} x_{roll}]. This parameter defines the intrinsic Euler angle rotation of the sensor around the zaxis, yaxis, and xaxis with respect to the platform frame, where:
z_{yaw}, or yaw angle, rotates the sensor around the zaxis of the platform frame.
y_{pitch}, or pitch angle, rotates the sensor around the yaxis of the platform frame. This rotation is relative to the sensor position that results from the z_{yaw} rotation.
x_{roll}, or roll angle, rotates the sensor about the xaxis of the platform frame. This rotation is relative to the sensor position that results from the z_{yaw} and y_{pitch} rotations.
Units are in degrees.
Enable elevation angle measurements — Enable radar to measure target elevation angles
off
(default) 
on
Select this check box to model a radar sensor that can measure target elevation.
Enable range rate measurements — Enable radar to measure target range rates
off
(default) 
on
Select this check box to enable the radar to measure range rates from target detections.
Add noise to measurements — Enable addition of noise to radar sensor measurements
on
(default) 
off
Select this parameter to add noise to the radar measurements. Otherwise, the
measurements have no noise. Even if you clear this parameter, the measurement noise
covariance matrix, which is reported in the MeasurementNoise
field
of the generated detections output, represents the measurement noise that is added
when Add noise to measurements is selected.
Enable false reports — Enable creating false alarm radar detections
on
(default) 
off
Select this parameter to enable creating false alarm radar measurements. If you clear this parameter, the radar reports only actual detections.
Enable occlusion — Enable lineofsight occlusion
on
(default) 
off
Select this parameter to enable lineofsight occlusion from extended objects. If you enable this parameter, the sensor models two types of occlusion, self occlusion and interobject occlusion. Self occlusion occurs when one side of an extended object occludes another side. Interobject occlusion occurs when one extended object stands in the line of sight of another extended object or a point target. 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.
Maximum number of target reports — Maximum number of detections or tracks
100
(default)  positive integer
Maximum number of detections or tracks that the sensor reports, specified as a positive integer. The sensor reports detections in order of increasing distance from the sensor until reaching this maximum number.
Target reporting format — Format of generated target reports
Clustered detections
(default) 
Tracks
 Detections
Format of generated target reports, specified as one of these options:
Clustered detections — The block generates target reports as clustered detections, where each target is reported as a single detection that is the centroid of the unclustered target detections. The block returns clustered detections at the Clustered detections output port.
Tracks — The block generates target reports as tracks, which are clustered detections that have been processed by a tracker. The block returns tracks at the Tracks output port.
Detections — The block generates target reports as unclustered detections, where each target can have multiple detections. The block returns clustered detections at the Detections output port.
Coordinate system — Coordinate system of reported detections
Body
(default) 
Sensor rectangular

Sensor spherical

Scenario
Coordinate system of reported detections, specified as one of these options:
Body
— Detections are reported in the rectangular body system of the sensor platform.Sensor rectangular
— Detections are reported in the sensor rectangular body coordinate system.Sensor spherical
— Detections are reported in a spherical coordinate system that is centered at the radar sensor and aligned with the orientation of the radar on the platform.Scenario
— Detections are reported in the rectangular scenario coordinate frame. To use this option, you must specify the INS input port.
Source of target truth time — Source of target truth time
Auto
(default) 
Input port
Source of target truth time, specified as one of these options:
Auto
— The block uses the current Simulink simulation time.Input port
— The block uses the time provided on theTime
input port of the block.
Enable INS — Enable INS input port
off
(default)  on
Select this parameter to allow input of INS data using the INS input port.
Source of output target report bus name — Source of output target report bus name
Auto
(default) 
Property
Source of the output target report bus name, specified as one of these options:
Auto
— The block automatically creates a bus name.Property
— Specify the bus name by using the Specify an output target report bus name parameter.
This bus name applies to the Clustered detections, Tracks, and Detections output ports.
Specify an output target report bus name — Name of target report output bus
BusFusionRadarSensor
(default)  valid bus name
Name of the target report bus to be returned in the output port, specified as a valid bus name. This bus name applies to the Clustered detections, Tracks, and Detections output ports.
Dependencies
To enable this parameter, set the Source of output target report bus
name parameter to Property
.
Enable radar configuration output — Enable radar configuration output
off
(default) 
on
Enable the Configuration output port.
Source of output config bus name — Source of output config bus name
Auto
(default)  Property
Source of bus name of the Configuration output port, specified as one of these options:
Auto
— The block automatically creates a bus name.Property
— Specify the bus name by using the Specify an output config bus name parameter.
Dependencies
To enable this parameter, select the Enable radar configuration output check box.
Specify an output config bus name — Name of sensor configuration output bus
BusFusionRadarSensorConfig
(default)  valid bus name
Specify the name of the radar configuration bus returned in the Configuration output port.
Dependencies
To enable this parameter, set the Source of output config bus
name parameter to Property
.
Measurements
Resolution settingsAzimuth resolution (deg) — 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 the azimuth angle at which the radar can distinguish between two targets. The azimuth resolution is typically the 3 dB downpoint of the azimuth angle beamwidth of the radar. Units are in degrees.
Elevation resolution (deg) — Elevation resolution of radar
5
(default)  positive scalar
Elevation resolution of the radar, specified as a positive scalar. The elevation resolution defines the minimum separation in the elevation angle at which the radar can distinguish between two targets. The elevation resolution is typically the 3 dB downpoint of the elevation angle beamwidth of the radar. Units are in degrees.
Dependencies
To enable this parameter, select the Enable elevation angle measurements check box.
Range resolution (m) — Range resolution of radar
100
(default)  positive real scalar
Range resolution of the radar in meters, specified as a positive real scalar. The range resolution defines the minimum separation in the range at which the radar can distinguish between two targets. Units are in meters.
Range rate resolution (m/s) — Range rate resolution of radar
10
(default)  positive real scalar
Range rate resolution of the radar, specified as a positive real scalar. The range rate resolution defines the minimum separation in the range rate at which the radar can distinguish between two targets. Units are in meters per second.
Dependencies
To enable this parameter, on the Parameters tab, select the Enable range rate measurements check box.
Azimuth bias fraction — Azimuth bias fraction of radar
0.1
(default)  nonnegative scalar
Azimuth bias fraction of the radar, specified as a nonnegative scalar. Azimuth bias is expressed as a fraction of the azimuth resolution specified in the Azimuth resolution (deg) parameter. This value sets a lower bound on the azimuthal accuracy of the radar and is dimensionless.
Elevation bias fraction — Elevation bias fraction of radar
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 in the Elevation resolution (deg) parameter. This value sets a lower bound on the elevation accuracy of the radar and is dimensionless.
Dependencies
To enable this parameter, select the Enable elevation angle measurements check box.
Range bias fraction — 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 by the Range resolution (m) property. This parameter sets a lower bound on the range accuracy of the radar and is dimensionless.
Range rate bias fraction — 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 by the Range rate resolution (m/s) parameter. This parameter sets a lower bound on the range rate accuracy of the radar and is dimensionless.
Dependencies
To enable this parameter, select the Enable range rate measurements check box.
Total angular field of view [AZ, EL] (deg) — Angular field of view of radar
[1 5]
(default)  1by2 positive realvalued vector of form [azfov,elfov]
Angular field of view of the radar, specified as a 1by2 positive realvalued
vector of the form [azfov elfov]
. The field of view defines the
angular extent spanned by the sensor. The azimuth field of view
azfov
must lie in the interval (0, 360]. The elevation field of
view elfov
must lie in the interval (0, 180]. Units are in
degrees
Range limits [MIN, MAX] (m) — Minimum and maximum range of radar
[0 100e3]
(default)  1by2 nonnegative realvalued vector of form [min
max]
Minimum and maximum range of the radar, specified as a 1by2 nonnegative
realvalued vector of the form [min max]
. The radar does not detect
targets that are outside this range. The maximum range max
must be
greater than the minimum range min
. Units are in meters.
Range rate limits [MIN, MAX] (m/s) — Minimum and maximum range rate of radar (m/s)
[200, 200]
(default)  1by2 realvalued vector of form [min max]
Minimum and maximum range rate of radar, specified as a 1by2 realvalued vector
of the form [min max]
. The radar does not detect targets that are
outside this range rate. The maximum range rate max
must be greater
than the minimum range rate min
. Units are in meters per
second.
Dependencies
To enable this parameter, select the Enable range rate measurements check box.
Detection probability — Probability of detecting a target
0.9
(default)  scalar in range (0, 1]
Probability of detecting a target, specified as a scalar in the range (0, 1]. This parameter defines the probability of detecting a target that has a radar crosssection (RCS) specified by the Reference target RCS (dBsm) parameter and is at the range specified by the Reference target range (m) parameter. Units are dimensionless.
False alarm rate — False alarm report rate
1e06
(default)  positive real scalar in range [10^{–7},
10^{–3}]
False alarm report rate within each radar resolution cell, specified as a positive real scalar in the range [10^{–7}, 10^{–3}]. The block determines resolution cells from the Azimuth resolution (deg) and Range resolution (m) parameters and, when enabled, from the Elevation resolution (deg) and Range rate resolution (m/s) parameters. Units are dimensionless.
Reference target range (m) — Reference target range
1000e3
(default)  positive real scalar
Reference target range for the given probability of detection and the given reference radar crosssection (RCS), specified as a positive real scalar. The reference range is the range at which a target having a radar crosssection specified by the Reference target RCS (dBsm) parameter is detected with a probability of detection specified by the Detection probability parameter. Units are in meters.
Reference target RCS (dBsm) — Reference target radar crosssection
0
(default)  real scalar
Reference target radar crosssection (RCS) for a given probability of detection and reference range, specified as a real scalar. The reference RCS is the RCS value at which a target is detected with a probability specified by the Detection probability parameter at the specified Reference target range (m) parameter value. Values are expressed in dBsm.
Center frequency (Hz) — Center frequency of radar band
300e6
(default)  positive real scalar
Center frequency of the radar band, specified as a positive scalar. Units are in Hz.
Filter initialization function name — Kalman filter initialization function
initcvekf
(default)  function name
Kalman filter initialization function, specified as the name of a valid Kalman filter initialization function.
This table shows the initialization functions you can use to specify Filter initialization function name.
Initialization Function  Function Definition 

initcaabf  Initialize constantacceleration alphabeta Kalman filter 
initcvabf  Initialize constantvelocity alphabeta Kalman filter 
initcakf  Initialize constantacceleration linear Kalman filter. 
initcvkf  Initialize constantvelocity linear Kalman filter. 
initcaekf  Initialize constantacceleration extended Kalman filter. 
initctekf  Initialize constantturnrate extended Kalman filter. 
initcvekf  Initialize constantvelocity extended Kalman filter. 
initcaukf  Initialize constantacceleration unscented Kalman filter. 
initctukf  Initialize constantturnrate unscented Kalman filter. 
initcvukf  Initialize constantvelocity unscented Kalman filter. 
You can also write your own initialization function. The function must have this syntax.
filter = filterInitializationFcn(detection)
objectDetection
object. The output of this function must be a tracking
filter object, such as trackingKF
, trackingEKF
, trackingUKF
, or trackingABF
.
To guide you in writing this function, you can examine the details of one of the functions in the table in MATLAB.
type initcvekf
Dependencies
To enable this parameter, set the Target reporting format
parameter to Tracks
.
M and N for the MoutofN confirmation — Threshold for track confirmation
[2 3]
(default)  1by2 vector of positive integers
Threshold for track confirmation, specified as a 1by2 vector of positive
integers of the form [M N]
. A track is confirmed if it receives at
least M
detections in the last N
updates.
M
must be less than or equal to N
.
When setting
M
, take into account the probability of object detection for the sensors. The probability of detection depends on factors such as occlusion or clutter. You can reduceM
when tracks fail to be confirmed or increaseM
when too many false detections are assigned to tracks.When setting
N
, consider the number of times you want the tracker to update before it makes a confirmation decision. For example, if a tracker updates every 0.05 seconds, and you want to allow 0.5 seconds to make a confirmation decision, setN = 10
.
Dependencies
To enable this parameter, set the Target reporting format
parameter to Tracks
.
P and R for the PoutofR deletion — Threshold for track deletion
[5 5]
(default)  1by2 vector of positive integers
Threshold for track deletion, specified as a 1by2 vector of positive integers of
the form [P R]
. If a confirmed track is not assigned to any
detection P
times in the last R
tracker updates,
then the track is deleted. P
must be less than or equal to
R
.
To reduce how long the radar maintains tracks, decrease
R
or increaseP
.To maintain tracks for a longer time, increase
R
or decreaseP
.
Dependencies
To enable this parameter, set the Target reporting format
parameter to Tracks
.
Random number generation — Method to specify random number generator seed
Repeatable
(default) 
Specify seed

Not repeatable
Method to set the random number generator seed as one of the options in the table.
Option  Description 

Repeatable  The block generates a random initial seed for the first
simulation and reuses this seed for all subsequent simulations. Select
this parameter to generate repeatable results from the statistical sensor
model. To change this initial seed, at the MATLAB command prompt, enter: 
Specify seed  Specify your own random initial seed for reproducible results by using the Initial seed parameter. 
Not repeatable  The block generates a new random initial seed after each simulation run. Select this parameter to generate nonrepeatable results from the statistical sensor model. 
Initial seed — Random number generator seed
0
(default)  nonnegative integer less than 2^{32}
Random number generator seed, specified as a nonnegative integer less than 2^{32}.
Dependencies
To enable this parameter, set the Random number generation
parameter to Specify seed
.
Target Profiles
Target profiles definition — Method to specify target profiles
From Scenario Reader block
(default)  MATLAB expression
 Parameters
Method to specify target profiles, specified as one of
Parameters
, MATLAB expression
,
From Scenario Reader block
. Profiles are the physical and
radar characteristics of targets in the scenario.
Parameters
— The block obtains the target profiles from these parameters:Unique target identifiers
Target classification identifiers
Length of target cuboids (m)
Width of target cuboids (m)
Height of target cuboids (m)
Rotational center of target cuboids (m)
Target signatures
MATLAB expression
— The block obtains the target profiles from the MATLAB expression specified by the MATLAB expression for target profiles parameter.From Scenario Reader block
— The block obtains the platforms profiles from the Tracking Scenario Reader block.
MATLAB expression for target profiles — MATLAB expression for target profiles
MATLAB structure  MATLAB structure array  valid MATLAB expression
Specify the MATLAB expression for target profiles, as a MATLAB structure, a MATLAB structure array, or a valid MATLAB expression that produces such a structure or structure array.
You can use the outputs from the platformProfiles
object function of the trackingScenario
object to specify target profiles.
The default target profile expression produces a MATLAB structure and has this form.
struct('ClassID',0,'Dimensions', ... 'Length',0,'Width',0,'Height',0,'OriginOffset',[0 0 0]), ... 'Signatures',{rcsSignature})
Dependencies
To enable this parameter, set the Target profiles
definition parameter to MATLAB
expression
.
Unique target identifiers — Scenariodefined target identifier
[]
(default)  positive integer  lengthL vector of unique positive integers
Specify the scenariodefined target identifier as a positive integer or
lengthL vector of unique positive integers. L
must equal the number of targets input into the Platforms input
port. The vector elements must match PlatformID
values of the
targets. You can specify Unique target identifiers as
[]
. In this case, the same target profile parameters apply to all
targets.
Example: [1 2]
Dependencies
To enable this parameter, set the Target profiles
definition parameter to Parameters
.
Target classification identifiers — Userdefined classification identifier
0
(default)  integer  lengthL vector of integers
Specify the userdefined classification identifier as an integer or
lengthL vector of integers. When Unique target
identifiers is a vector, this parameter is a vector of the same length
with elements in onetoone correspondence to the targets in Unique target
identifiers. When Unique target identifiers is
empty, []
, you must specify this parameter as a single integer
whose value applies to all targets.
Example: 2
Dependencies
To enable this parameter, set the Target profiles
definition parameter to Parameters
.
Length of target cuboids (m) — Length of target cuboids
0
(default)  positive real scalar  lengthL vector of positive values
Specify the length of target cuboids as a positive real scalar or
lengthL vector of positive values. When Unique target
identifiers is a vector, this parameter is a vector of the same length
with elements in onetoone correspondence to the targets in Unique target
identifiers. When Unique target identifiers is
empty, []
, you must specify this parameter as a positive real
scalar whose value applies to all targets. Units are in meters.
Example: 6.3
Dependencies
To enable this parameter, set the Target profiles
definition parameter to Parameters
.
Width of target cuboids (m) — Width of target cuboids
0
(default)  positive real scalar  lengthL vector of positive values
Specify the width of target cuboids as a positive real scalar or
lengthL vector of positive values. When Unique target
identifiers is a vector, this parameter is a vector of the same length
with elements in onetoone correspondence to the targets in Unique target
identifiers. When Unique target identifiers is
empty, []
, you must specify this parameter as a positive real
scalar whose value applies to all targets. Units are in meters.
Example: 4.7
Dependencies
To enable this parameter, set the Target profiles
definition parameter to Parameters
.
Height of target cuboids (m) — Height of target cuboids
0
(default)  positive real scalar  lengthL vector of positive values
Specify the height of target cuboids as a positive real scalar or
lengthL vector of positive values. When Unique target
identifiers is a vector, this parameter is a vector of the same length
with elements in onetoone correspondence to the targets in Unique target
identifiers. When Unique target identifiers is
empty, []
, you must specify this parameter as a positive real
scalar whose value applies to all targets. Units are in meters.
Example: 2.0
Dependencies
To enable this parameter, set the Target profiles
definition parameter to Parameters
.
Rotational center of target cuboids (m) — Rotational center of target cuboids
{[0, 0, 0]}
(default)  lengthL cell array of realvalued 1by3 vectors
Specify the rotational center of target cuboids as a lengthL
cell array of realvalued 1by3 vectors. Each vector represents the offset of the
rotational center of a target cuboid from the bottomcenter of the target. When
Unique target identifiers is a vector, this parameter is a cell
array of vectors with cells in onetoone correspondence to the targets in
Unique target identifiers. When Unique target
identifiers is empty, []
, you must specify this
parameter as a cell array of one element containing an offset vector whose values
apply to all targets. Units are in meters.
Example: {[1.35, 0.2, 0.3]}
Dependencies
To enable this parameter, set the Target profiles
definition parameter to Parameters
.
Target signatures — Target signatures
{rcsSignature}
(default)  lengthL cell array
Target signatures, specified as a lengthL cell array of rcsSignature
objects
that specify the RCS signatures of the targets. L is the number of
targets specified in the Platforms input port.
Dependencies
To enable this parameter, set the Target profiles
definition parameter to Parameters
.
Version History
Introduced in R2022bR2023a: Simulink buses do not show in workspace
As of R2023a, the Simulink buses created by this block no longer show in MATLAB workspace.
See Also
fusionRadarSensor
 Tracking Scenario
Reader
 Global Nearest
Neighbor Multi Object Tracker  Create Nonvirtual Buses (Simulink)
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