Create Tracking Scenario with Two Platforms

Construct a tracking scenario with two platforms that follow different trajectories.

sc = trackingScenario('UpdateRate',100.0,'StopTime',1.2);

Create two platforms.

platfm1 = platform(sc);
platfm2 = platform(sc);

Platform 1 follows a circular path of radius 10 m for one second. This is accomplished by placing waypoints in a circular shape, ensuring that the first and last waypoint are the same.

wpts1 = [0 10 0; 10 0 0; 0 -10 0; -10 0 0; 0 10 0];
time1 = [0; 0.25; .5; .75; 1.0];
platfm1.Trajectory = waypointTrajectory(wpts1, time1);

Platform 2 follows a straight path for one second.

wpts2 = [-8 -8 0; 10 10 0];
time2 = [0; 1.0];
platfm2.Trajectory = waypointTrajectory(wpts2,time2);

Verify the number of platforms in the scenario.

disp(sc.Platforms)

    {1×1 fusion.scenario.Platform}    {1×1 fusion.scenario.Platform}

Run the simulation and plot the current position of each platform. Use an animated line to plot the position of each platform.

figure
grid
axis equal
axis([-12 12 -12 12])
line1 = animatedline('DisplayName','Trajectory 1','Color','b','Marker','.');
line2 = animatedline('DisplayName','Trajectory 2','Color','r','Marker','.');
title('Trajectories')
p1 = pose(platfm1);
p2 = pose(platfm2);
addpoints(line1,p1.Position(1),p1.Position(2));
addpoints(line2,p2.Position(1),p2.Position(2));

while advance(sc)
    p1 = pose(platfm1);
    p2 = pose(platfm2);
    addpoints(line1,p1.Position(1),p1.Position(2));
    addpoints(line2,p2.Position(1),p2.Position(2));
    pause(0.1)
end

Plot the waypoints for both platforms.

hold on
plot(wpts1(:,1),wpts1(:,2),' ob')
text(wpts1(:,1),wpts1(:,2),"t = " + string(time1),'HorizontalAlignment','left','VerticalAlignment','bottom')
plot(wpts2(:,1),wpts2(:,2),' or')
text(wpts2(:,1),wpts2(:,2),"t = " + string(time2),'HorizontalAlignment','left','VerticalAlignment','bottom')
hold off