uav.SensorAdaptor Class

Namespace: uav

Custom UAV sensor interface

Description

The uav.SensorAdaptor class is an interface for adapting custom sensor models to for use with the uavScenario object for UAV scenario simulation.

The uav.SensorAdaptor class is a handle class.

Class Attributes

Abstract

true

For information on class attributes, see Class Attributes.

Creation

Syntax

sensorObj = uav.SensorAdaptor(sensorModel)

Description

sensorObj = uav.SensorAdaptor(sensorModel) creates a sensor object compatible with the uavScenario object. sensorModel is an object handle for a custom implementation of the SensorAdaptor class.

To get a template for a custom sensor implementation, use the createCustomSensorTemplate function.

Properties

UpdateRate — Sensor update rate

positive scalar

Sensor update rate, specified as a positive scalar in Hz.

Example: 10 Hz

Data Types: double

SensorModel — Custom sensor model implementation

object handle

Custom sensor model implementation, specified as an object handle. To get a template for a custom sensor implementation, use the createCustomSensorTemplate function.

Attributes:

SetAccess

private

Examples

Simulate IMU Sensor Mounted on UAV

Create a sensor adaptor for an imuSensor from Navigation Toolbox™ and gather readings for a simulated UAV flight scenario.

Create Sensor Adaptor

Use the createCustomSensorTemplate function to generate a template sensor and update it to adapt an imuSensor object for usage in UAV scenario.

createCustomSensorTemplate

This example provides the adaptor class uavIMU, which can be viewed using the following command.

edit uavIMU.m

Use Sensor Adaptor in UAV Scenario Simulation

Use the IMU sensor adaptor in a UAV Scenario simulation. First, create the scenario.

scenario = uavScenario("StopTime", 8, "UpdateRate", 100);

Create a UAV platform and specify the trajectory. Add a fixed-wing mesh for visualization.

plat = uavPlatform("UAV", scenario, "Trajectory", ...
    waypointTrajectory([0 0 0; 100 0 0; 100 100 0], "TimeOfArrival", [0 5 8], "AutoBank", true));
updateMesh(plat,"fixedwing", {10}, [1 0 0], eul2tform([0 0 pi]));

Attach the IMU sensor using the uavSensor object and specify the uavIMU as an input. Load parameters for the sensor model.

imu = uavSensor("IMU", plat, uavIMU(imuSensor));

fn = fullfile(matlabroot,'toolbox','shared',...
    'positioning','positioningdata','generic.json');
loadparams(imu.SensorModel,fn,"GenericLowCost9Axis");

Visualize the scenario.

figure
ax = show3D(scenario);
xlim([-20 200]);
ylim([-20 200]);

Preallocate the simData structure and fields to store simulation data. The IMU sensor will output acceleration and angular rates.

simData = struct;
simData.Time = duration.empty;
simData.AccelerationX = zeros(0,1);
simData.AccelerationY = zeros(0,1);
simData.AccelerationZ = zeros(0,1);
simData.AngularRatesX = zeros(0,1);
simData.AngularRatesY = zeros(0,1);
simData.AngularRatesZ = zeros(0,1);

Set up the scenario.

setup(scenario);

Run the simulation using the advance function. Update the sensors and record the data.

updateCounter = 0;
while true
    % Advance scenario.
    isRunning = advance(scenario);
    updateCounter = updateCounter + 1;
    % Update sensors and read IMU data.
    updateSensors(scenario);
    [isUpdated, t, acc, gyro] = read(imu);
    % Store data in structure.
    simData.Time = [simData.Time; seconds(t)];
    simData.AccelerationX = [simData.AccelerationX; acc(1)];
    simData.AccelerationY = [simData.AccelerationY; acc(2)];
    simData.AccelerationZ = [simData.AccelerationZ; acc(3)];
    simData.AngularRatesX = [simData.AngularRatesX; gyro(1)];
    simData.AngularRatesY = [simData.AngularRatesY; gyro(2)];
    simData.AngularRatesZ = [simData.AngularRatesZ; gyro(3)];

    % Update visualization every 10 updates.
    if updateCounter > 10
        show3D(scenario, "FastUpdate", true, "Parent", ax);
        updateCounter = 0;
        drawnow limitrate
    end
    % Exit loop when scenario is finished.
    if ~isRunning 
        break; 
    end
end

Visualize the simulated IMU readings.

simTable = table2timetable(struct2table(simData));
figure
stackedplot(simTable, ["AccelerationX", "AccelerationY", "AccelerationZ", ...
    "AngularRatesX", "AngularRatesY", "AngularRatesZ"], ...
    "DisplayLabels", ["AccX (m/s^2)", "AccY (m/s^2)", "AccZ (m/s^2)", ...
    "AngularRateX (rad/s)", "AngularRateY (rad/s)", "AngularRateZ (rad/s)"]);

Methods

Public Methods

setup	Set up custom sensor model
read	Read from custom sensor model
reset	Reset custom sensor model
getEmptyOutputs	Return empty sensor outputs without sensor inputs
copy	Copy sensor adaptor
copyElement	Copy sensor adaptor object

Static Methods

uav.SensorAdaptor.getMotion

Get sensor motion in platform reference frame

Version History

Introduced in R2021a