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Scenario Simulation

Author scenes, generate sensor data, test algorithms in simulated environments

Simulation using realistic unmanned aerial vehicle (UAV) scenarios and sensor models is a crucial part of testing UAV algorithms. UAV Toolbox provides two simulation environments in which to test these algorithms. Both environments have their uses, and one environment is not a replacement for the other.

  • In the cuboid simulation environment, vehicles and other platforms in the scenario are represented as simple box shapes, or for lidar applications, as polygon meshes. Use this environment to rapidly author scenarios or generate sensor data. Test controllers, tracking algorithms, and sensor fusion algorithms in both MATLAB® and Simulink®. To get started authoring a scenario, use the uavScenario object.

  • In the Unreal Engine® simulation environment, scenarios are rendered using the Unreal Engine from Epic Games®. Use this environment to visualize scenarios using more realistic graphics; to generate high-fidelity radar, camera, and lidar sensor data; and to test perception-in-the-loop systems. This environment is available in Simulink and runs on Windows® only. To learn more, see Unreal Engine Simulation for Unmanned Aerial Vehicles.



UAV Scenario DesignerDesign UAV scenarios with terrain, platforms, and sensors


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uavScenarioGenerate UAV simulation scenario
uavSensorSensor for UAV scenario
uavPlatformUAV platform for sensors in scenario
extendedObjectMeshMesh representation of extended object
uavMissionMission data for UAV flight
uavCoveragePlannerPath planner for UAV space coverage
uavCoverageSpace2D coverage area for coverage planner
coverageDecompositionDecompose concave polygon into convex polygons
multirotorMissionParserGenerate trajectory for multirotor UAV from mission
multirotorFlightTrajectoryMultirotor UAV trajectory
fixedwingMissionParserGenerate trajectory for fixed-wing UAV from mission
fixedwingFlightTrajectoryFixed-wing UAV trajectory
waypointTrajectoryWaypoint trajectory generator
polynomialTrajectoryPiecewise-polynomial trajectory generator
gpsSensorGPS receiver simulation model
insSensorInertial navigation system and GNSS/GPS simulation model
uavLidarPointCloudGeneratorGenerate point clouds from meshes
createCustomSensorTemplateCreate sample implementation for UAV custom sensor interface
uav.SensorAdaptorCustom UAV sensor interface
transformTreeDefine coordinate frames and relative transformations
getGraphGraph object representing tree structure
getTransformGet relative transform between frames
infoList all frame names and stored timestamps
removeTransformRemove frame transform relative to its parent
showShow transform tree
updateTransformUpdate frame transform relative to its parent
sim3d.EditorInterface to the Unreal Engine project
sim3d.mapsAccess additional scenes from the server
sim3d.maps.Map.deleteDelete local maps downloaded from the server
sim3d.maps.Map.downloadDownload maps from the server
sim3d.maps.Map.localList of locally available maps
sim3d.maps.Map.serverList of maps available for download from the server
copyExampleSim3dProjectCopy support package files and plugins to specified folders


UAV Guidance ModelReduced-order model for UAV
UAV AnimationAnimate UAV flight path using translations and rotations
Path ManagerCompute and execute a UAV autonomous mission
GPSSimulate GPS sensor readings with noise
INSSimulate INS sensor
Simulation 3D UAV VehiclePlace UAV vehicle in 3D visualization
Simulation 3D Scene ConfigurationScene configuration for 3D simulation environment
Simulation 3D CameraCamera sensor model with lens in 3D simulation environment
Simulation 3D LidarLidar sensor model in 3D simulation environment
Simulation 3D Fisheye CameraFisheye camera sensor model in 3D simulation environment
Simulation 3D Ultrasonic SensorUltrasonic sensor model in 3D simulation environment
Video SendSend video stream to remote hardware
UAV Scenario ConfigurationConfigure and simulate UAV scenarios
UAV Scenario Get TransformGet transforms from UAV scenario platforms
UAV Scenario LidarSimulate lidar measurements based on meshes in scenario
UAV Scenario Motion ReadRead platform and sensor motions from UAV scenario simulation
UAV Scenario Motion WriteUpdate platform motion in UAV scenario simulation
UAV Scenario ScopeVisualize UAV scenario and lidar point clouds

Scenes and Vehicle Dimensions

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US City BlockUS city block Unreal Engine environment
SuburbanSuburban Unreal Engine environment
QuadrotorQuadrotor vehicle dimensions
Fixed Wing AircraftFixed wing aircraft dimensions


Simulation Basics

Simulation with Sensors

Scene Customization