Bistatic Position Estimator

Estimate targets positions using bistatic range and angle measurements

Since R2025a

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Libraries:
Phased Array System Toolbox / Direction of Arrival

Description

The Bistatic Position Estimator block estimates target positions from bistatic range or range-sum measurements with known anchor positions.

Ports

Input

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Bistatic range or range-sum measurements, specified as a real-valued 1-by-K vector or real-valued J-by-L matrix.

  • When RngEst is a real-valued J-by-L matrix, the measurement represents bistatic range or range-sum measurements measured at J transmit anchors and L receive anchors.

  • When RngEst is a real-valued 1-by-K vector, the measurement represents bistatic range or range-sum measurements measured at one transmit anchor and one receive anchors for K targets.

Units are in meters.

Example: [1000 2000]

Data Types: single | double

  • When RngEst is a real-valued J-by-L matrix, AngEst should be a real-valued length-L row vector or 2-by-L matrix. When AngEst is a row vector, it represents the azimuth angles measured at L receive anchors. When AngEst is a matrix, its first row represents the azimuth angle and its second row represents the elevation angle measured at L receive anchors.

  • When RngEst is a real-valued 1-by-K vector, AngEst should be a real-valued K-element row vector or 2-by-K matrix.

Example: [10 20]

Data Types: single | double

Range variance, specified as a positive real-valued J-by-L matrix or positive real-valued length-K row vector. When RngVar is empty, the variance estimates are unknown and are set to be unity for all targets.

  • When RngVar is a J-by-L, it represents the variance of the bistatic range or range-sum estimates of a target measured at J-L anchor pairs. When RngVar is empty, the variance estimates are unknown and are set to unity for all anchor pairs. Units are in meters-squared.

  • When RngVar is a length-K vector, it represents the variance of bistatic range or range sum estimation of K targets measured at one anchor pair.

Example: [10 15]

Dependencies

To enable this port, select Enable known variance input check box.

Data Types: single | double

Angle measurement variances, specified as empty, real-valued 1-by-L row vector, or positive real-valued 2-by-L matrix. When AngVar is a vector, it represents the azimuth angle variance estimates of a target measured at L receive anchors. When AngVar is a matrix, it represents the angle variance estimates of a target measured at L receive anchors. When AngVar is empty, the variance estimates are unknown and are set unity all L receive anchors. When the measurements are accurate, we can set the corresponding variance to be empty.

Example: [.10 .15]

Dependencies

To enable this port, select Enable known variance input check box.

Data Types: single | double

Transmitting anchor positions, specified as a real-valued Q-by-J matrix. J is the number of transmitting anchors. Each column represents the position of a different anchor. Positions may be two or three dimensional. For two dimensional positions, Q=2 and for three dimensional positions, Q=3. The jth column of TxPos denotes the position of the jth transmitter in Q-dimensional Cartesian space. Units are in meters.

Example: [20 31 –16; 13 64 –44]

Data Types: single | double

Receiving anchor positions, specified as a real-valued Q-by-L matrix. L is the number of receiving anchors. Each column represents the position of a different anchor. Positions may be two or three dimensional. For two dimensional positions, Q=2 and for three dimensional positions, Q=3. The lth column of RxPos denotes the position of the lth receiver in Q-dimensional Cartesian space. Units are in meters.

Example: [20 31 –16; 13 64 –44]

Data Types: single | double

Output

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Target position estimate, returned as a real-valued Q-by-1 vector or real-valued Q-by-K matrix, representing the estimated K target positions. Units are in meters.

Data Types: single | double

When the input contains JL anchor pairs with one target, the tgtposcov is a Q-by-Q matrix, which is a real positive semi-definite symmetric matrix representing the estimated target position covariance. When the input contains 1 anchor pair with K targets, the tgtposcov is a Q-by-Q-by-K array, where each page is a real-valued positive semi-definite symmetric matrix, representing the estimated target position covariance. Units are in meters-squared.

Dependencies

To enable this port, select the Output covariances of position estimates check box.

Data Types: single | double

Parameters

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To edit block parameters interactively, use the Property Inspector. From the Simulink® Toolstrip, on the Simulation tab, in the Prepare gallery, select Property Inspector.

Range measurement type, specified as Bistatic range or Range sum. The bistatic range is the range sum subtracted by the baseline range. When Bistatic range is chosen, the target position estimation uses bistatic range and AOA measurements. When Range sum chosen, the target position estimation uses range-sum and AOA measurements.

Select this check box to allow input from the RngVar and AngVar ports.

Select this check box to output position covariance estimates from the TgtPosCov port.

Data Types: single | double

Extended Capabilities

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C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Version History

Introduced in R2025a