Range-Angle Position Estimator

Estimate target positions using range-angle measurements

Since R2025a

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Libraries:
Phased Array System Toolbox / Direction of Arrival

Description

The Range-Angle Position Estimator block estimates target positions using range-angle measurements.

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 1-by-K vector, the measurement represents bistatic range or range-sum measurements measured at one transmit anchor and one receive anchor for K targets.

  • 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.

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 an empty matrix or 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 unit for all anchor pairs. Units are in meters-squared.

  • When RngVar is a length-K vector, it represents is 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

Anchor positions, specified as a real-valued Q-by-J matrix. J is the number of 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

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.

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

Data Types: Boolean

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

Data Types: Boolean

Block simulation, specified as Interpreted Execution or Code Generation. If you want your block to use the MATLAB® interpreter, choose Interpreted Execution. If you want your block to run as compiled code, choose Code Generation. Compiled code requires time to compile but usually runs faster.

Interpreted execution is useful when you are developing and tuning a model. The block runs the underlying System object™ in MATLAB. You can change and execute your model quickly. When you are satisfied with your results, you can then run the block using Code Generation. Long simulations run faster with generated code than in interpreted execution. You can run repeated executions without recompiling, but if you change any block parameters, then the block automatically recompiles before execution.

This table shows how the Simulate using parameter affects the overall simulation behavior.

When the Simulink model is in Accelerator mode, the block mode specified using Simulate using overrides the simulation mode.

Acceleration Modes

Block SimulationSimulation Behavior
NormalAcceleratorRapid Accelerator
Interpreted ExecutionThe block executes using the MATLAB interpreter.The block executes using the MATLAB interpreter.Creates a standalone executable from the model.
Code GenerationThe block is compiled.All blocks in the model are compiled.

For more information, see Choosing a Simulation Mode (Simulink).

Programmatic Use

Block Parameter: SimulateUsing
Type: enum
Values: Interpreted Execution, Code Generation
Default: Interpreted Execution

Extended Capabilities

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

Version History

Introduced in R2025a