Platform.pose
Pose of platform
Description
returns the estimated pose, pse
= pose(ptfm
)pse
, of the platform
ptfm
, in scenario coordinates. The platform must already
exist in the tracking scenario. Add platforms to a scenario using the platform
method. The pose is estimated by a pose estimator specified
in the PoseEstimator
property of the platform.
specifies the coordinate system of the pse
= pose(___,'CoordinateSystem',coordinate
)pse
output. You can only
use this syntax when the IsEarthCentered
property of the
tracking scenario is set to true
.
Examples
Create Earth Centered Scenario
Create a tracking scenario with a specified update rate.
scene = trackingScenario('IsEarthCentered',true,'UpdateRate',0.01);
Add an airplane in the scenario. The trajectory of the airplane changes in latitude and altitude.
plane = platform(scene,'Trajectory',geoTrajectory([-12.338,-71.349,10600;42.390,-71.349,0],[0 36000]));
Advance the tracking scenario and record the geodetic and Cartesian positions of the plane target.
positions = []; while advance(scene) poseLLA = pose(plane,'CoordinateSystem','Geodetic'); poseCart = pose(plane,'CoordinateSystem','Cartesian'); positions = [positions;poseCart.Position];%#ok<AGROW> Allow the buffer to grow. end
Visualize the trajectory in the ECEF frame.
figure() km = 1000; % Plot the trajectory. plot3(positions(1,1)/km,positions(1,2)/km,positions(1,3)/km, 'b*'); hold on; plot3(positions(end,1)/km,positions(end,2)/km,positions(end,3)/km, 'bo'); plot3(positions(:,1)/km,positions(:,2)/km,positions(:,3)/km,'b'); % Plot the Earth radial lines. plot3([0 positions(1,1)]/km,[0 positions(1,2)]/km,[0 positions(1,3)]/km,'k:'); plot3([0 positions(end,1)]/km,[0 positions(end,2)]/km,[0 positions(end,3)]/km,'k:'); xlabel('x (km)'); ylabel('y (km)'); zlabel('z (km)'); legend('Start position','End position','Trajectory')
Input Arguments
ptfm
— Scenario platform
Platform
object
Scenario platform, specified as a Platform
object. To create platforms, use
the platform
method.
type
— Source of platform pose information
'estimated'
(default) | 'true'
Source of platform pose information, specified as
'estimated'
or 'true'
. When set to
'estimated'
, the pose is estimated using the pose
estimator specified in the PoseEstimator
property of
the tracking scenario. When 'true'
is selected, the true
pose of the platform is returned.
Example: 'true'
Data Types: char
coordinate
— Coordinate system to report pose
'Cartesian'
(default) | 'Geodetic'
Coordinate system to report pose, specified as:
'Cartesian'
— Report poses using Cartesian coordinates in the Earth-Centered-Earth-Fixed coordinate frame.'Geodetic'
— Report positions using geodetic coordinates (latitude, longitude, and altitude). Report orientation, velocity, and acceleration in the local reference frame (North-East-Down by default) corresponding to the current waypoint.
.
You can only use this argument when the
IsEarthCentered
property of the tracking scenario
is set to true
.
Output Arguments
pse
— Pose of platform
structure
Pose of platform, returned as a structure. Pose consists of the position, velocity, orientation, and angular velocity of the platform with respect to scenario coordinates. The returned structure has these fields:
Field | Description |
---|---|
PlatformID | Unique identifier for the platform, specified as a positive integer. This is a required field with no default value. |
ClassID | User-defined integer used to classify the type of target, specified as a nonnegative integer. Zero is reserved for unclassified platform types and is the default value. |
Position | Position of platform in scenario coordinates, specified as a real-valued 1-by-3 row vector.
|
Velocity | Velocity of platform in scenario coordinates, specified as a real-valued 1-by-3 row
vector. Units are meters per second. The default value is |
Acceleration | Acceleration of the platform in scenario coordinates, specified as a
1-by-3 row vector in meters per second squared. The default value is
|
Orientation | Orientation of the platform with respect to the local scenario navigation frame,
specified as a scalar quaternion or a 3-by-3 rotation matrix. Orientation
defines the frame rotation from the local navigation coordinate system to
the current platform body coordinate system. Units are dimensionless. The
default value is |
AngularVelocity | Angular velocity of the platform in scenario coordinates, specified as a real-valued
1-by-3 vector. The magnitude of the vector defines the angular speed. The
direction defines the axis of clockwise rotation. Units are degrees per
second. The default value is |
Version History
Introduced in R2018b
See Also
detect
| emit
| targetPoses
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